Movement Control Using Zero Dynamics of Two-wheeled Inverted Pendulum Robot
نویسندگان
چکیده
منابع مشابه
Design and control of Two-Wheeled Inverted Pendulum Mobile Robot
This paper addresses design and path following control problem of a nonholonomic Two-Wheeled Inverted Pendulum Mobile Robot. We propose control architecture based on two control layers. A speed inner loop control scheme is first designed based on state feedback technique to ensure stability of the inverted structure of the robot. A second outer loop control scheme is proposed to help the robot ...
متن کاملDynamic Analysis of a Nonholonomic Two-Wheeled Inverted Pendulum Robot
As a result of the increase in robots in various fields, the mechanical stability of specific robots has become an important subject of research. This study is concerned with the development of a two-wheeled inverted pendulum robot that can be applied to an intelligent, mobile home robot. This kind of robotic mechanism has an innately clumsy motion for stabilizing the robot’s body posture. To a...
متن کاملA two-wheeled inverted pendulum robot with friction compensation
This paper introduces a method of design and implementation of a two-wheeled inverted pendulum (TWIP) robot with friction compensation. Friction in the drive mechanism is a critical factor of robot self-balancing and affects its performance. The friction parameters are identified based on the dynamic model of the drive mechanism. The dynamics of the whole robot system are obtained by the Lagran...
متن کاملReal-Time Control of a Two-Wheeled Inverted Pendulum Mobile Robot
The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform ...
متن کاملReal-Time Control System for a Two-Wheeled Inverted Pendulum Mobile Robot
The research on two-wheeled inverted pendulum (T-WIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world (Solerno & Angeles, 2003;Grasser et al., 2002; Solerno & Angeles, 2007;Koyanagi, Lida & Yuta, 1992;Ha & Yuta, 1996; Kim, Kim & Kwak, 2003). This chapter describes the hardware design of such a rob...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 2008
ISSN: 0453-4654
DOI: 10.9746/ve.sicetr1965.44.252