Mathematical Modeling of the Bicycle Robot with the Reaction Wheel

• Autorzy: Owczarkowski A. , Kozierski P. , Lis M.

Identyfikatory

DOI

10.14313/JAMRIS_3-2015/19

• Języki publikacji: EN

Abstrakty

EN

The article presents the influence of the reaction wheels on the stability of the bicycle robot. The precise mathematical model is presented. The robot is treated as an inverted pendulum with rigid body physical nature. The mathematical analysis can be useful to develop con- trol techniques, to make many computer simulations, to check how the system will behave in reality.

Słowa kluczowe

EN

inertia wheel pendulum; reaction wheel; bicycle robot; dynamic model

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2015
• Tom: Vol. 9, No. 3
• Strony: 3--8
• Opis fizyczny: Bibliogr. 19 poz., rys.

Twórcy

autor

Owczarkowski A.

• Poznan University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A street, 60-965 Poznan, Poland

autor

Kozierski P.

• Poznan University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A street, 60-965 Poznan, Poland

autor

Lis M.

• Poznan University of Technology, In- stitute of Electrical Engineering and Electronics, ul. Piotrowo 3A street, 60-965 Poznan, Poland

Bibliografia

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