Title :
On the dynamic model of a two-wheeled inverted pendulum robot
Author :
Sangtae Kim ; SangJoo Kwon
Author_Institution :
Sch. of Aerosp. & Mech. Eng., Korea Aerosp. Univ., Goyang, South Korea
Abstract :
Currently existing dynamic models for a two-wheeled inverted pendulum mobile robot have some common mistakes. In order to find where the errors of the dynamic model are induced, Lagrangian method and Kane´s method are compared in deriving the equation of motion. Numerical examples are given to illustrate the effect of the incorrect terms. Finally, a complete dynamic model is proposed without any error and missing terms.
Keywords :
mobile robots; motion control; nonlinear control systems; pendulums; robot dynamics; Kane method; Lagrangian method; dynamic model errors; motion equation; two-wheeled inverted pendulum mobile robot; Aerodynamics; Equations; Mathematical model; Mobile communication; Mobile robots; Inverted pendulum robot; Kane´s method; nonholonomic constraints;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on
DOI :
10.1109/URAI.2014.7057519
