On the Dynamic Model of a Two-Wheeled Inverted Pendulum Robot

被引：0

作者：

Kim, Sangtae ^{[1
]}

Kwon, SangJoo ^{[1
]}

机构：

[1] Korea Aerosp Univ, Sch Aerosp & Mech Engn, Goyang 412791, South Korea

来源：

2014 11TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2014年

关键词：

Inverted pendulum robot; nonholonomic constraints; Kane's method; MOBILE; VELOCITY; BALANCE; MOTION;

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：

Currently existing dynamic models for a two-wheeled inverted pendulum mobile robot have some common mistakes. In order to find where the errors of the dynamic model are induced, Lagrangian method and Kane's method are compared in deriving the equation of motion. Numerical examples are given to illustrate the effect of the incorrect terms. Finally, a complete dynamic model is proposed without any error and missing terms.

引用

页码：145 / 148

页数：4

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