Dynamic Modeling and Simulation of a Flexible Two-Wheeled Balancing Robot

被引：0

作者：

Ruan, Xiaogang ^{[1
]}

Li, Xinyuan ^{[1
]}

Xing, Xuetao ^{[1
]}

机构：

[1] Beijing Univ Technol, Coll Elect Informat & Control Sci, Beijing 100124, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, PT I, PROCEEDINGS | 2008年 / 5314卷

关键词：

two-wheeled balancing robot; elastic joint; dynamic modeling;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper focuses on deriving the dynamic model of a novel flexible mobile robot, which has elastic joint, so that the robot is able to be simulated with a computer and analyzed dynamically. First, the dynamic equations are derived from Routh formulation with the nonholonomic constraints of the robot, and then the nonholonomic constraint forces are removed so that the dynamic equations are transformed to an input-affine form at last. Three illustrative simulation results are given which show that the dynamic model presented in this paper is reasonable.

引用

页码：1011 / 1020

页数：10

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