경사로를 주행하는 이륜 역진자 로봇의 자세 및 속도 최적 제어

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