Title :
Modeling with Euler-Lagrang Equation and Cybernetical Analysis for a Unicycle Robot
Author :
Ruan, Xiaogang ; Hu, Jingmin ; Wang, Qiyuan
Author_Institution :
Sch. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China
Abstract :
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 Euler-Lagrange 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.
Keywords :
control system analysis; controllability; cybernetics; differential equations; mobile robots; position control; robot dynamics; stability; torque control; Euler-Lagrange equation; MATLAB; ODE simulation; balance controller design; controllability; cybernetical analysis; dynamic modeling; lateral stability; longitudinal stability; mathematic model; torque adjustment; unicycle robot; Control engineering; Intelligent robots; Mathematical model; Mobile robots; Nonlinear equations; Robot kinematics; Robotics and automation; Stability; Torque; Wheels; Dynamical Modeling; Euler-Lagrang equation; Open Dynamics Engine (ODE); Unicycle Robot;
Conference_Titel :
Intelligent Computation Technology and Automation, 2009. ICICTA '09. Second International Conference on
Conference_Location :
Changsha, Hunan
Print_ISBN :
978-0-7695-3804-4
DOI :
10.1109/ICICTA.2009.263
