Modelin with Euler-Lagrang Equation and Cybernetical Analysis for A Unicycle Robot
In this paper we study the dynamic modeling of a unicycle robot composed of a wheel,a frame and a disk.The unicycle can reach longitudinal stability by appropriate control to the wheel and lateral stability by adjusting appropriate torque imposed by the disk. The dynamic modeling of the unicycle robot is derived by EulerLagrange method.The stability and controllability of the system are analyzed according to the mathematic model.Independent simulation using MATLAB and ODE methods are then proposed respectively.Through the simulation, we confirm the validity of the two obtained models of the unicycle robot system, and provide two experimental platforms for the designing of the balance controller.
Dynamical Modeling Euler-Lagrang equation Unicycle Robot Open Dynamics Engine (ODE)
Xiaogang Ruan Jingmin Hu Qiyuan Wang
School of Electronic Information and Control Engineering Beijing University of Technology Beijing, China
国际会议
长沙
英文
1060-1063
2009-10-10（万方平台首次上网日期，不代表论文的发表时间）