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경사로에서 이륜 역진자 로봇의 안정적인 주행제어

Title
경사로에서 이륜 역진자 로봇의 안정적인 주행제어
Other Titles
Stable Driving Control of Two wheeled inverted pendulum robot on the slope
Author
유홍희
Keywords
Two Wheeled Pendulum Robot; Optimal Control; 이륜 역진자 로봇; 최적 제어
Issue Date
2015-11
Publisher
대한기계학회
Citation
대한기계학회 창립 70주년 기념 학술대회, 2015.11, Page. 3579-3581
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.
URI
http://www.dbpia.co.kr/Article/NODE06576427http://hdl.handle.net/20.500.11754/28909
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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