Title :
Decoupled dynamics and stabilization of single wheel robot
Author :
Au, Kwok Wai ; Xu, Yangsheng
Author_Institution :
Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, Hong Kong
Abstract :
Gyrover is a single wheel, gyroscopically stabilized robot. It is a single wheel connected to a spinning flywheel through a two-link manipulator at the wheel bearing. The nature of the system is nonholonomic, nonlinear and underactuated. In this paper, we first develop a dynamic model and decouple the model with respect to the control inputs. We then study the effect of the flywheel dynamics on stabilizing the single wheel robot via simulation and experiment study. Finally, we design a linear state feedback control law that stabilizes the single wheel robot toward/in different lean angles, so as to control the precession rate. Simulation and experiment study validated the proposed controller as well as the developed dynamic model
Keywords :
control system synthesis; gyroscopes; linear systems; manipulators; mobile robots; nonlinear control systems; robot dynamics; stability; state feedback; Gyrover; decoupled dynamics; flywheel dynamics; lean angles; linear state feedback control design; mobile robot; nonholonomic nonlinear underactuated robot; single-wheel gyroscopically stabilized robot; spinning flywheel; stabilization; two-link manipulator; wheel bearing; Bicycles; Flywheels; Mobile robots; Nonlinear dynamical systems; Prototypes; Robotics and automation; Spinning; Stability; Torque; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.813004