Title :
Cart propulsion using a revolving pendulum
Author :
Wane, Sam ; Yu, Hongnian
Author_Institution :
Fac. of Comput., Eng. & Technol., Staffordshire Univ., Stafford
Abstract :
A propulsion system that does not require any interaction with the external environment in the form of grasping or sticking is proposed. This internal propulsion system for a robot body operates by the use of the frictional force between the body and the environment, and the reaction force from the controlled acceleration of a mass. The dynamics and control issues of a rotating lever attached to a mass are quantified and the results from a prototype are compared. The lateral progress of a system using this as a drive method are analyzed.
Keywords :
acceleration control; mobile robots; nonlinear control systems; propulsion; robot dynamics; cart propulsion; drive method; frictional force; internal propulsion system; inverted pendulum; mass acceleration control; reaction force; revolving pendulum; robot body dynamics; rotating lever control; Acceleration; Control systems; DC motors; Force control; Mathematical model; Microcontrollers; Propulsion; Prototypes; Weight control; Wheels;
Conference_Titel :
Networking, Sensing and Control, 2009. ICNSC '09. International Conference on
Conference_Location :
Okayama
Print_ISBN :
978-1-4244-3491-6
Electronic_ISBN :
978-1-4244-3492-3
DOI :
10.1109/ICNSC.2009.4919278
