Dynamics and control of nonholonomic two-wheeled inverted pendulum robot = 두 개의 바퀴로 구동되는 논홀로노믹 도립진자 로봇의 동역학과 제어에 관한 연구

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The auxiliary wheels in WMR frequently don’t work, so they were removed and the system became the nonholonomic two-wheeled inverted pendulum robot. For this robot, the equations of motion were derived after the design and fabrication along with constructing fundamental control system like the motor controller. The equations of motion were found by Lagrange’s equations and Kane’s dynamical equations, and both approaches provided the same results. Thus, the derived equations of motion can be said to be reliable. However, the derived results in this thesis are different from that presented by the results of the previous studies. Based on the derived equations of motion, the controller was selected as LQR which is an optimal controller. Using the LQR, the state-feedback gain matrix was found, and it was applied to the simulation of upright balancing. The robot was controllable with small rising time and overshoot. The designed optimal controller was applied to the control of the robot, and the upright balancing, rectilinear motion, and spinning motion were realized. There is satisfactory agreement between the experiment and simulation.
Advisors
Kwak, Yoon-KeunresearcherKim, Soo-Hyunresearcher곽윤근researcher김수현researcher
Description
한국과학기술원 : 기계공학전공,
Publisher
한국과학기술원
Issue Date
2003
Identifier
180146/325007 / 020003821
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학전공, 2003.2, [ vii, 93 p. ]

Keywords

Robot; Dynamics; Control; 논홀로노믹; 도립진자; 로봇; 동역학; 제어; Nonholonomic; Inverted Pendulum

URI
http://hdl.handle.net/10203/45453
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=180146&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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