The Kinematics Model of a Two-Wheeled Self-Balancing Autonomous Mobile Robot and Its Simulation

Author

Bin, He ; Zhen, Liu Wen ; Feng, Lv Hai

Author_Institution

Shanghai Key Lab. of Mech. Autom. & Robot., Shanghai Univ., Shanghai, China

Volume

2

fYear

2010

fDate

19-21 March 2010

Firstpage

64

Lastpage

68

Abstract

The researches on two-wheeled self-balancing robots have gained momentum in recent decade around the world. This paper describes the kinematics model of a two-wheeled self-balancing autonomous mobile robot. After mechatronics system design of the robot is completed, the analysis of the whole kinematics model can be divided into two wheels and a body. Then the velocity decompositions of robot wheel and body are analyzed respectively. After the left and right wheel kinematic model is established based on above velocity decomposition method, and the kinematic model of self-balancing robot´s body is also calculated by this method. The whole kinematics model of the two-wheeled self-balancing robot system is then established. The effectiveness of the kinematics model is testified by the simulation analysis on ADAMS and experimental validation.

Keywords

mechatronics; mobile robots; robot kinematics; ADAMS; kinematics model; mechatronics system design; two-wheeled self-balancing autonomous mobile robot; velocity decomposition method; Analytical models; Control systems; Kinematics; Mechatronics; Mobile robots; Orbital robotics; Remotely operated vehicles; Robot sensing systems; Robotics and automation; Wheels; Kinematics model; Kinematics simulation; Two-wheeled self-balancing; robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Engineering and Applications (ICCEA), 2010 Second International Conference on

Conference_Location

Bali Island

Print_ISBN

978-1-4244-6079-3

Electronic_ISBN

978-1-4244-6080-9

Type

conf

DOI

10.1109/ICCEA.2010.169

Filename

5445623