Dynamics Modeling and Postural Stability Control of a Unicycle Robot

被引：0

作者：

Zhao, Long ^{[1
]}

Zhang, Xiaobin ^{[1
]}

Xu, Qiang ^{[1
]}

Ji, Junhong ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin, Peoples R China

来源：

PROCEEDINGS OF 2015 INTERNATIONAL CONFERENCE ON FLUID POWER AND MECHATRONICS - FPM 2015 | 2015年

关键词：

Dynamic model; Postural stability; Unicycle robot;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents a dynamic model of a unicycle robot which consists of a wheel and two momentum wheels. However, the dynamic model of the unicycle robot built in this paper is non-linear. By expanding the non-linear items in Taylor series around an equilibrium point, the non-linear dynamic model of the unicycle robot is linearized. And the linearized dynamic model of the unicycle robot is simplified into state equation. Based on the linearized state equation, a state feedback algorithm is designed to maintain postural stability of the unicycle robot. After completing the postural stability control algorithm, a simulation model is developed using Simulink. The capability and performance of the algorithm is verified.

引用

页码：1123 / 1127

页数：5

共 9 条

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