Simulation of Intelligent Single Wheel Mobile Robot
نویسندگان
چکیده
منابع مشابه
Simulation of intelligent single wheel mobile robot
Stabilization of a single wheel mobile robot attracted researcher attentions in robotic area. However, the budget requirements for building experimental setups capable in investigating isolated parameters and implementing others encouraged the development of new simulation methods and techniques that beat such limitations. In this work we have developed a simulation platform for testing differe...
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This paper presents driving and balancing control of a single-wheel mobile robot system called the name of GYROBO. GYROBO utilizes a gyro effect to stabilize itself. Three actuators are used to perform driving and balancing tasks. After modification of hardware and relocation of materials inside the wheel housing of the previous GYROBO model, performances of trajectory following control as well...
متن کاملCalibrating a 4-wheel mobile robot
When a mobile robot is constructed the odometry must be calibrated. Calibrating a 4-wheel robot requires the accurate measurement of steering angle as well as translation and rotation. Some measurements are made with a tape measure and some with ultrasonic sensors. The measurements are used to determine the parameters of the odometry calibration matrix and the steering kinematic model. A proced...
متن کاملfor a Two-Wheel Mobile Robot
In this paper, a Model Reference Adaptive Systems (MRAS) based an Adaptive System is proposed to a Two-Wheel Mobile Robot (TWMR). The TWMR is an open-loop unstable, non-linear and multi output system. The main task of this design is to keep the balance of the robot while moving toward the desired position. Firstly, the nonlinear equations of motion for the robot are derived in the Lagrange form...
متن کاملA Self-stabilising Multipurpose Single-wheel Robot
This article presents a design process of a single-wheel robot which consists of building a theoretical model, designing a mechanical structure, simulating the design, building a prototype and testing it. It describes the control strategy for this vehicle, developed during the simulation process, and how it works for a ready built prototype. It mainly focuses on the self-stabilisation problem e...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2007
ISSN: 1729-8814,1729-8814
DOI: 10.5772/5707