Dynamic Modelling and Simulation of a Flexible Two-Wheeled Balancing Robot
This paper describes a kind of flexible two-wheeled balancing robot, which has an elastic passive rotation-joint as its waist. We focus on deriving the dynamic model of the robot in this paper so that the robot can be simulated with a computer and analyzed dynamically. First, the dynamic equations are derived from Lagrangrian approach. Then, three illustrative simulation results are given which show that the dynamic model presented in this paper is reasonable.
two-wheeled robot elastic joint dynamic modelling
Xiaogang Ruan Xinyuan Li Xuetao Xing
Deparment of Electronic Information and Control Science Beijing University of Technology Beijing,100124,China
国际会议
2008年拟人系统国际会议(2008 International Conference on Humanized Systems )(ICHS’08)
北京
英文
2008-10-18（万方平台首次上网日期，不代表论文的发表时间）