DEVELOPMENT OF A BICYCLE TYPE VEHICLE'S SIMULATOR WITH THREE-DIMENSIONAL DYNAMICS INCLUDING VISCOUS FRICTION MODEL AND WHEEL WIDTH

摘要

Our purpose is to develop a simulator to emulate movements of a real small sized bike robot under feedback control.1 We configured the bike robot model by using 4 simple rigid links and derived motion equations for the bike robot from simple constraints among those links. Simple viscus friction is considered in the simulator. We compared the results of the simulations with the movements of the real bike robot under the same feedback control algorithm and the same control coefficient with the bike robot. We confirm that the results of the simulations are almost similar to the motions of the bike robot on the whole. In this paper, we report that our bike-robot model, the simulator and the simulation results compared with the motion of the real robot. We consider it is sufficient to simulate a motion of the bike robot.