Dynamic Modeling of a Moment Exchange Unicycle Robot

S. Langius

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    2 Citations (Scopus)
    74 Downloads (Pure)

    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 languageEnglish
    Title of host publicationICINCO 2010
    Subtitle of host publicationProceedings of the 7th International Conference on Informatics in Control, Automation and Robotics
    EditorsJoaquim Filipe, Juan Andrade Cetto, Jean-Louis Ferrier
    PublisherSCITEPRESS
    Pages216-221
    Number of pages6
    ISBN (Print)978-9898425010
    Publication statusPublished - 2010
    Event7th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2010 - Funchal, Madeira, Portugal
    Duration: 5 Jun 20107 Jun 2010
    Conference number: 7

    Conference

    Conference7th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2010
    Abbreviated titleICINCO
    CountryPortugal
    CityFunchal, Madeira
    Period5/06/107/06/10

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