DocumentCode
3576003
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
fYear
2014
Firstpage
145
Lastpage
148
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on
Type
conf
DOI
10.1109/URAI.2014.7057519
Filename
7057519
Link To Document