Dynamic Model and Analysis of the Flexible Two-Wheeled Mobile Robot

被引：0
|
作者：
Ruan, Xiao-gang [1 ]
Ren, Hong-ge [1 ]
Li, Xin-yuan [1 ]
Wang, Qi-yuan [1 ]
机构：
[1] Beijing Univ Technol, Sch Elect & Control Engn, Beijing 100124, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, PT I, PROCEEDINGS | 2008年 / 5314卷
关键词：
Flexible two-wheeled mobile robot; Dynamics model; Assumed mode method; D'Alembert-Lagrange principle;
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：
Aiming to the flexible structure feature of waist, the flexible two-wheeled mobile robot was designed based on dynamics of flexible multi-body system. Adopting the assumed mode method, the robot can be abstracted to a three-link robot system, and the flexible robot dynamics model is established using D' the Alembert-Lagrange, then the dynamics equation of this systems is obtained using the oblique angles of three poles and the turn corners of two wheels as the parameters, and the vibration equation of connecting rod with flexible waist is also gained. Listing some material steps at establishing the mathematics model, and from this some simulation analysis was carried out. The simulation results confirm that the model is efficient, and it has provided the theory basis for the movement and control research of the flexible robot system.
引用
收藏
页码：933 / 942
页数：10
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