Dynamic modelling and simulation of wire-walking robot based on the control of balancing pole

A kind of dynamic model of wire-walking robot was built based on the Lagrange method. The controller was designed based on the partial feedback linearization control algorithm. The driving toque of the balancing pole was taken as the system input to keep self-balancing. The roll angle and its velocity of the body were taken as two of the system inputs. The other two were the angle and its velocity of the balancing pole relative to the body. Then a single-input and multi-output affine nonlinear system was constructed. A kind of virtual prototype of the robot was designed. And the validity of the control algorithm was verified by computer simulations.