Dynamic Modeling of Single-Wheeled Robot

Xiao Gang Ruan; Qi Yuan Wang

doi:10.4028/www.scientific.net/AMR.383-390.447

Paper Titles

Overview of the Low Voltage Ride-Through Technology for Direct-Drive Permanent Magnetic Wind Power System
p.424

Design of Detection Device for Solar Photovoltaic Lighting System Charge-Discharge Performance
p.430

Application of Improved RBAC in System Login Component Design
p.435

An Optimal Design Method Based on Feature Technology for Micro Device
p.440

Dynamic Modeling of Single-Wheeled Robot
p.447

The Application of the Niching Genetic Algorithm to Optimum Design of the YKK Series Induction Motor
p.453

Design of a Remote, Real-Time Elevator Monitoring System Based on the µc/os-II Operating System
p.459

Design of an Automatic Positioning System Used in Pipe Crawler Weld Based on TMS320DM642
p.465

A High-Performance Signal Processing System for Monopulse Tracking Radar
p.471

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 383-390Dynamic Modeling of Single-Wheeled Robot

Dynamic Modeling of Single-Wheeled Robot

Abstract:

This paper presents a kind of single-wheeled robot (SWR, unicycle robot). Lagrange approach is used to formulate the dynamic model of the robot moving in 3 dimensions. The result of model simulation is consistent with the physical. The proposed dynamic model provides some theoretical basis for designing and controlling SWR.