A Wheeled Inverted Pendulum System with an Automatic Standing Arm
نویسندگان
چکیده
منابع مشابه
Standing Human - an Inverted Pendulum
A standing posture looks like an inverted pendulum, and its stabilization mechanism has been catching scientists' attention for ages. In this note, the posture stability is delineated at the lowest level-mechanical model. The foot sole is simplified as a twisted spring to stable the posture. The critical spring coefficient is derived.
متن کاملSymmetries in the wheeled inverted pendulum mechanism
The purpose of this article is to illustrate the role of connections and symmetries in the Wheeled Inverted Pendulum (WIP) mechanism an underactuated system with rolling constraints popularized commercially as the Segway, and thereby arrive at a set of simpler dynamical equations that could serve as the starting point for more complex feedback control designs. The first part of the article view...
متن کاملA two-wheeled inverted pendulum robot with friction compensation
This paper introduces a method of design and implementation of a two-wheeled inverted pendulum (TWIP) robot with friction compensation. Friction in the drive mechanism is a critical factor of robot self-balancing and affects its performance. The friction parameters are identified based on the dynamic model of the drive mechanism. The dynamics of the whole robot system are obtained by the Lagran...
متن کاملDynamic Analysis of a Nonholonomic Two-Wheeled Inverted Pendulum Robot
As a result of the increase in robots in various fields, the mechanical stability of specific robots has become an important subject of research. This study is concerned with the development of a two-wheeled inverted pendulum robot that can be applied to an intelligent, mobile home robot. This kind of robotic mechanism has an innately clumsy motion for stabilizing the robot’s body posture. To a...
متن کاملDesign for Control of Wheeled Inverted Pendulum Platforms
In this paper, we study five aspects of design for wheeled inverted pendulum (WIP) platforms with the aim of understanding the effect of design choices on the balancing performance. First, we demonstrate analytically and experimentally the effect of soft visco-elastic tires on a WIP showing that the use of soft tires enhances balancing performance. Next, we study the effect of pitch rate and wh...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Korean Institute of Intelligent Systems
سال: 2015
ISSN: 1976-9172
DOI: 10.5391/jkiis.2015.25.6.578