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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2021.8
- 수록면
- 616 - 625 (10page)
- DOI
- 10.5302/J.ICROS.2021.21.0036
이용수
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초록· 키워드
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This paper presents a study on the derivation of the dynamics equations of two-wheel robot systems by using Denavit-Hartenberg(D-H) parameters defined for robot manipulators. A wheeled-mobile robot and a two-wheel robot of combining an inverted pendulum system and a wheeled-mobile robot share a similar kinematics and dynamics. Since the wheeled-mobile robots behave like a simple inertial system under some assumptions, linear control schemes are applied accordingly by ignoring kinematics constraints in practice. The simplified dynamics of two-wheel robot systems without nonholonomic constraints by ignoring wheel dynamics is analyzed. The kinematics and dynamics of two-wheel robots are derived by defining D-H parameters. Experimental studies of controlling a circular trajectory of a two-wheel robot are conducted to show the feasibility of the proposal.
목차
Abstract
I. 서론
II. WMR 이동로봇
III. 이륜로봇
IV. Denavit-Hartenberg Method
V. Control of Two Wheel Robots
VI. 시뮬레이션
VII. Experimental Studies
VIII. 결론
REFERENCES
참고문헌 (23)
참고문헌 신청
N. Motoi, T. Suzuki, and K. Ohnishi, “A bipedal locomotion planning based on virtual linear inverted pendulum mode,” IEEE Trans. on Industrial Electronics, 2008.
W. Spong, P. Corke, and R. Lozano, “Nonlinear control of the inertia wheel pendulum,” Automatica, vol. 37, pp. 1845-1851, 2001.
M. W. Spong, “The swing up control problem for the acrobat,” IEEE Control Systems Magazine, 15, pp. 72-79, 1995.
W. White and R. Fales, “Control of double inverted pendulum with hydraulic actuation : a case study,” Proc. of the American Control Conference, pp. 495-499, 1999.
X. Xin, M. Kaneda, T. Yamasaki, and J. H. She, “Swing-up control based on virtually composite links for an n-link underactuated robot with passive first joint,” IFAC Word Congress, pp. 7672-7677, 2008.
W. Spong, P. Corke, and R. Lozano, “Nonlinear control of the inertia wheel pendulum,” Automatica, vol. 37, pp. 1845-1851, 2001.
M. W. Spong, “The swing up control problem for the acrobat,” IEEE Control Systems Magazine, 15, pp. 72-79, 1995.
W. White and R. Fales, “Control of double inverted pendulum with hydraulic actuation : a case study,” Proc. of the American Control Conference, pp. 495-499, 1999.
X. Xin, M. Kaneda, T. Yamasaki, and J. H. She, “Swing-up control based on virtually composite links for an n-link underactuated robot with passive first joint,” IFAC Word Congress, pp. 7672-7677, 2008.
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