Dynamic Modeling of a Two-wheeled Inverted Pendulum Balancing Mobile Robot

被引：38
|
作者：
Kim, Sangtae [1 ]
Kwon, SangJoo [1 ]
机构：
[1] Korea Aerosp Univ, Sch Aerosp & Mech Engn, Goyang 412791, South Korea
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2015年 / 13卷 / 04期
基金：
新加坡国家研究基金会;
关键词：
Balancing robot; inverted pendulum robot; Kane's method; nonholonomic constraint; TRACKING; VELOCITY;
D O I：
10.1007/s12555-014-0564-8
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Many of the currently available dynamic models for the two-wheeled balancing mobile robot have some common mistakes, which are mainly due to misunderstanding about the coordinate systems to describe the rotating motions and a lack of rigorous comparison with former derivations. This paper investigates the modeling procedures for the 2WBMR in terms of the Lagrangian approach and Kane's method, through which an exact dynamic model is given, and we discuss how the modeling errors in the former works were induced. Numerical examples are given to see the effect of the erroneous terms on the postural stability.
引用
收藏
页码：926 / 933
页数：8
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