Abstract
In this paper a three dimensional non-linear model has been derived to describe the dynamics of an unstable moment exchange unicycle robot. The robot uses a driving wheel to provide stabilization in longitudinal direc- tion, while a second moment exchange wheel with a large inertia is used for stabilization in lateral direction. For validation purposes, the resulting equations of motion are compared independently against the simulation results of a finite element package called SPACAR. The model includes the coupling between the lateral and longitudinal motion, which makes it possible to control the yaw angle and the model can be used to design a stabilizing feedback controller.
| Original language | English |
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| Title of host publication | ICINCO 2010 |
| Subtitle of host publication | Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics |
| Editors | Joaquim Filipe, Juan Andrade Cetto, Jean-Louis Ferrier |
| Publisher | SCITEPRESS |
| Pages | 216-221 |
| Number of pages | 6 |
| ISBN (Print) | 978-9898425010 |
| Publication status | Published - 2010 |
| Event | 7th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2010 - Funchal, Madeira, Portugal Duration: 5 Jun 2010 → 7 Jun 2010 Conference number: 7 |
Conference
| Conference | 7th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2010 |
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| Abbreviated title | ICINCO |
| Country | Portugal |
| City | Funchal, Madeira |
| Period | 5/06/10 → 7/06/10 |