1. Modeling of Two-Wheeled Self-Balancing Robot Driven by DC Gearmotors
- Author
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L. Dominik, Alexander Gmiterko, Piotr Kuryło, Peter Frankovský, O. Perminova, and Ivan Virgala
- Subjects
Fluid Flow and Transfer Processes ,dc gearmotor ,State-space representation ,Computer science ,020208 electrical & electronic engineering ,Mechanics of engineering. Applied mechanics ,Transportation ,02 engineering and technology ,TA349-359 ,Inverted pendulum ,Computer Science::Robotics ,020303 mechanical engineering & transports ,self-balancing robot ,0203 mechanical engineering ,state space model ,Control theory ,0202 electrical engineering, electronic engineering, information engineering ,Robot ,inverted pendulum ,Civil and Structural Engineering - Abstract
This paper is aimed at modelling a two-wheeled self-balancing robot driven by the geared DC motors. A mathematical model consists of two main parts, the model of robot’s mechanical structure and the model of the actuator. Linearized equations of motion are derived and the overall model of the two-wheeled self-balancing robot is represented in state-space realization for the purpose of state feedback controller design.
- Published
- 2017