Dynamic Modeling of Single-Wheeled Robot

Abstract:

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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.

Info:

Periodical:

Advanced Materials Research (Volumes 383-390)

Edited by:

Wu Fan

Pages:

447-452

DOI:

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

Citation:

X. G. Ruan and Q. Y. Wang, "Dynamic Modeling of Single-Wheeled Robot", Advanced Materials Research, Vols. 383-390, pp. 447-452, 2012

Online since:

November 2011

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Price:

$35.00

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