Dynamic modeling and verification of unicycle mobile robot system

Author

Rashid, M. Z Ab ; Sidek, S.N.

Author_Institution

Dept. of Mechatron. Eng., Int. Islamic Univ. Malaysia, Kuala Lumpur, Malaysia

fYear

2011

fDate

17-19 May 2011

Firstpage

1

Lastpage

5

Abstract

Unicycle mobile robot main advantages over multi-wheeled mobile robot are higher degree of mobility and less space as it only has one wheel to move. The system developed consists of two parts which are the lower and the upper parts. The lower part is composed of a wheel which is moving back and forth to stabilize the pitch angle. Meanwhile, the upper part consists of a reaction disc and the main frame that functions to stabilize the roll angle of the unicycle system. The dynamic model of the unicycle mobile robot is developed using Lagrangian method and verified through simulation using MATLAB software. The results show that the dynamic model developed can be used to design a model-based controller.

Keywords

control system synthesis; mobile robots; stability; wheels; Lagrangian method; MATLAB software; dynamic modeling; model based controller design; multiwheeled mobile robot; pitch angle stabilization; reaction disc; roll angle stabilization; unicycle mobile robot system verification; Mathematical model; Mobile robots; Stability analysis; Torque; Vehicle dynamics; Wheels; Lagrangian method; model verification; reaction disc; unicycle mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics (ICOM), 2011 4th International Conference On

Conference_Location

Kuala Lumpur

Print_ISBN

978-1-61284-435-0

Type

conf

DOI

10.1109/ICOM.2011.5937199

Filename

5937199