Dynamics of a rolling disk and a single wheel robot on an inclined plane

被引：0
|
作者：
Xu, YS [1 ]
Sun, LW [1 ]
机构：
[1] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Hong Kong, Hong Kong, Peoples R China
来源：
2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS | 2000年
关键词：
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The dynamics of a rolling disk and a single wheel robot on incline are derived and established respectively. The condition of rolling zip is addressed. If the condition of rolling up is violated, a methodology of tracking is proposed. The system is stabilized around the position perpendicular to the surface. The simulation results are provided at last.
引用
收藏
页码：811 / 816
页数：6
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