Dynamics modeling and system parameter identification experiment of a kind of two-wheeled robot

摘要

A kind of two-wheeled robot is researched in this paper. Firstly, the structure is analyzed. Then, the Lagrange equations are used to make the dynamic model of the two-wheeled robot. The parameter identification experiment is based on the dynamic model of the two-wheel robot, which the genetic algorithm and the least square method are used in. The system parameters obtained through experiments was compared with those parameters obtained from the simulation using SolidWorks. The dynamic modeling was proved to be correct from the result of the experiments mentioned above.