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경사로를 주행하는 이륜 역진자 로봇의 자세 및 속도 최적 제어

Title
경사로를 주행하는 이륜 역진자 로봇의 자세 및 속도 최적 제어
Other Titles
Optimal posture and velocity control of two wheel inverted pendulum robot for driving on the slope
Author
이동진
Alternative Author(s)
Lee, Dong Jin
Advisor(s)
유홍희
Issue Date
2016-02
Publisher
한양대학교
Degree
Master
Abstract
This paper proposes climbing algorithm for a two wheeled pendulum robot Until now, a lot of research have been studied on the flat Additionally, the research on the slope driving is needed. The dynamics of two wheeled pendulum robot is obtained by using Kane's method, and two wheeled pendulum robot is controlled by LQR controller. System is modeled by 3-dgree of freedom equation. and we can get reaction force when robot rotate on the slope. Finally the optimal rotation speed of robot is obtained. The model of two wheeled pendulum robot is confirmed by the commercial program RECURDYN and experiment
URI
https://repository.hanyang.ac.kr/handle/20.500.11754/126766http://hanyang.dcollection.net/common/orgView/200000428241
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL CONVERGENCE ENGINEERING(융합기계공학과) > Theses (Master)
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