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Content Provider | IEEE Xplore Digital Library |
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Author | Wei Zhuang Han Jiang Chengju Liu Shu-tong He |
Copyright Year | 2015 |
Description | Author affiliation: Sch. of Mech. & Electr. Eng., Guilin Univ. of Electron. Technol., Guilin, China (Wei Zhuang; Han Jiang; Chengju Liu; Shu-tong He) |
Abstract | Dynamic model of a unicycle robot with three driven joints and controller to achieve its balanced lateral rolling motion was studied in this paper. With regard of the nonholonomic constraints, we established a dynamic model for the robot by use of Chaplygin equation. The modeling results revealed that there were 6 general velocities and 3 underactuated freedoms in the system. We considered the dynamical subsystem of the robot's balanced lateral rolling motion, and developed a controller for it by applying the principle of Partial Feedback Linearization. The controller was designed by linearizing the underactuated rolling angle of the frame, and taking the rolling angle and the rotating angle of the balance regulating flying-wheel as output. Numerical simulation together with prototype experiment were given at the end to testify the availabilities of the proposed dynamic model and the motion controller. |
Starting Page | 164 |
Ending Page | 168 |
File Size | 1020950 |
Page Count | 5 |
File Format | |
e-ISBN | 9781467391047 |
DOI | 10.1109/ICInfA.2015.7279278 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2015-08-08 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Chaplygin equation Dynamical model Balanced Rolling motion Dynamics Unicycle robot Wheels Prototypes Numerical models Mobile robots Mathematical model Partial feedback linearization |
Content Type | Text |
Resource Type | Article |
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