Title :
Research on developed parallel two-wheeled robot and its control system
Author :
Jian-hai, Han ; Shu-shang, Zhao ; Ji-shun, Li ; Hang, Li
Author_Institution :
Sch. of Mechatron. Eng., Henan Univ. of Sci. & Technol., Luoyang
Abstract :
The parallel two-wheeled robot is a natural instability body, like traditional inverted pendulum, so it is necessary to use very effective control means to make it stabilize. The study on parallel two-wheeled robot emphasizes on walking balance control technology. In the paper the system configuration and mathematic modelling of the prototype are described. According to linear system theory, the state-feedback controller is designed based on Matlab simulation, and the stability of system is also proven by the simulation results. Finally, the validity and rationality of the system modelling and the designed controller are confirmed through the actual moving tests of the prototype.
Keywords :
control system analysis computing; control system synthesis; digital simulation; linear systems; mathematics computing; mobile robots; stability; state feedback; Matlab simulation; control system; linear system theory; mathematic modelling; parallel two-wheeled robot; state-feedback controller design; system configuration; system stability; walking balance control technology; Control systems; Legged locomotion; Linear systems; Mathematical model; Mathematics; Parallel robots; Prototypes; Robot control; Stability; System testing; Attitude sensors; Mathematic modeling; Matlab simulation; Parallel two-wheeled; State-feedback;
Conference_Titel :
Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on
Conference_Location :
Qingdao
Print_ISBN :
978-1-4244-2502-0
Electronic_ISBN :
978-1-4244-2503-7
DOI :
10.1109/ICAL.2008.4636583
