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.
The article deals with the issue of use of geometric mechanics tools in modelling nonholonomic systems. The introductory part of the article contains fiber bundle theory that we use at creating mathematical model of nonholonomic locomotion system with undulatory movement. Further the determination of general mathematical model for n-link snake-like robot is presented, where we used nonholonomic constraints. The relation between changes of shape and position variables was expressed using the local connection that was used to analyze and control system movement by vector fields. The effect of links number of snake-like robot on its mathematical model was investigated. The last part of this article consists of detailed description of modeling reconstruction equation for four-and five-link snake-like robot.
. He was a Fellow of the IEEE and the Institution of Engineering and Technology. His research interests include mechatronic systems, intelligent robotic systems, dust mass concentration measurement and measurement of non-electric quantities. He has authored more than 150 journal and conference papers on these topics. Ing. Ivan Virgala received M.Sc. degree in mechatronics from Technical University of Košice. He was born in 1983. He is currently working toward the Ph.D. degree in mechatronics at Technical University of Košice, Slovakia. Her research interests include mechatronics systems and robotics. He has authored 7 journal and conference papers on these topics. Ing. Martina Vacková received M.Sc. degree in mechatronics from Technical University of Košice. She was born in 1985. She is currently working toward the Ph.D. degree in mechatronics at Technical University of Košice, Slovakia. Her research interests include mechatronics systems and robotics. She has authored 7 journal and conference papers on these topics.
KEY WORDSSnake, Locomotion, Rectilinear, Two-Mass System ABSTRACT A few previous decades the researchers and the designers started to copy the animal motion to the mechanisms. The principal motivations of the snaky locomotion are the environments where the traditional machines are not applicable due their dimensions or shapes and where the accessories like the wheels or the legs fail. The paper deals with the dynamic analysis of the two-mass system imitating the snake rectilinear motion on the level surface. Within the research there were made various modifications of the system and through the simulation was verified the behavior of the kinematic parameters. Based on the mentioned displacements and the speeds depending on
Acta Mechanica SlovacaJournal published by Faculty of Mechanical Engineering -Technical University of Košice 75 the time it is possible to determine the optimal parameters of examined dynamic system.
In this article is the automatized procedure for deriving of n-link inverted pendulum motion equations presented. Example of 2 link inverted pendulum is included. The LQR algorithm using Maple input equations is proposed. Also the comparison between SimMechanics and Simulink is included.
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