Dynamic Modeling and Nonlinear Control of Spherical-wheeled Robot
نویسندگان
چکیده
منابع مشابه
Dynamic Control of Wheeled Mobile Robot Usingsliding
In this paper, we present a new robot ROMAIN. We describe the used mechanical, hardware and software architecture. This open structure is realized with a serial high speed bus : CAN. We develop the contraint and dynamic equations and we explain the state system. To control this robot, we use a variable structure control to track desired trajectories. However, this control method is too constrai...
متن کاملBackward and forward path following control of a wheeled robot
A wheeled mobile robot is one of the most important types of mobile robots. A subcategory of these robots is wheeled robots towing trailer(s). Motion control problem, especially in backward motion is one of the challenging research topics in this field. In this article, a control algorithm for path-following problem of a tractor-trailer system is provided, which at the same time provides the ab...
متن کاملNonlinear Modeling and Optimal Output Control of Two Wheeled Balancing Transporter
In this paper an optimal controller is proposed for a self-balancing electrical vehicle called Segway PT. This vehicle has one platform and two wheels on the sides and the rider stands on the platform. A handlebar, as a navigator, is attached to the body of Segway, with which the rider controls the vehicle. Since Segway uses electrical energy produced by batteries, resource consumption manageme...
متن کامل3d Dynamic Modeling of a Spherical Wheeled Self-balancing Mobile Robot
3D DYNAMIC MODELING OF A SPHERICAL WHEELED SELF-BALANCING MOBILE ROBOT Ali Nail İNAL M.S. in Electrical and Electronics Engineering Supervisor: Prof. Dr. Ömer MORGÜL August 2012 In recent years, dynamically stable platforms that move on spherical wheels, also known as BallBots, gained popularity in the robotics literature as an alternative locomotion method to statically stable wheeled mobile r...
متن کاملDynamic Modeling and Stabilization of Wheeled Mobile Robot
This paper presents the dynamic modeling of a nonholonomic mobile robot and the dynamic stabilization problem. The dynamic model is based on the kinematic one including nonholonomic constraints. The proposed control strategy allows to solve the control problem using linear controllers and only requires the robot localization coordinates. This strategy was tested by simulation using Matlab-Simul...
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: DEStech Transactions on Computer Science and Engineering
سال: 2018
ISSN: 2475-8841
DOI: 10.12783/dtcse/ccnt2018/24694