【24h】

Dynamic model and balanced lateral rolling motion control of a unicycle robot

机译:独轮机器人的动力学模型和侧向平衡运动控制

获取原文

摘要

Dynamic model of a unicycle robot with three driven joints and controller to achieve its balanced lateral rolling motion was studied in this paper. With regard of the nonholonomic constraints, we established a dynamic model for the robot by use of Chaplygin equation. The modeling results revealed that there were 6 general velocities and 3 underactuated freedoms in the system. We considered the dynamical subsystem of the robot's balanced lateral rolling motion, and developed a controller for it by applying the principle of Partial Feedback Linearization. The controller was designed by linearizing the underactuated rolling angle of the frame, and taking the rolling angle and the rotating angle of the balance regulating flying-wheel as output. Numerical simulation together with prototype experiment were given at the end to testify the availabilities of the proposed dynamic model and the motion controller.
机译:研究了具有三个从动关节和控制器的单轮机器人的动力学模型,以实现其平衡的侧向滚动运动。针对非完整约束,我们使用Chaplygin方程为机器人建立了动力学模型。建模结果表明,系统中有6个一般速度和3个驱动不足的自由度。我们考虑了机器人平衡侧向滚动运动的动力学子系统,并通过使用部分反馈线性化的原理为其开发了一个控制器。通过线性化框架的欠驱动滚动角度并以平衡调节飞轮的滚动角度和旋转角度作为输出来设计控制器。最后给出了数值模拟和原型实验,以验证所提出的动力学模型和运动控制器的有效性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱:kefu@zhangqiaokeyan.com

京公网安备:11010802029741号 ICP备案号:京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有
  • 客服微信

  • 服务号