| Issue |
MATEC Web Conf.
Volume 139, 2017
2017 3rd International Conference on Mechanical, Electronic and Information Technology Engineering (ICMITE 2017)
|
|
|---|---|---|
| Article Number | 00067 | |
| Number of page(s) | 5 | |
| DOI | https://doi.org/10.1051/matecconf/201713900067 | |
| Published online | 05 December 2017 | |
Dynamic Modeling of a Cubical Robot Balancing on Its Corner
1 Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China
2 Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, 100124, China
* Corresponding author: chenzgbs@126.com
Aiming at the problem of self-balancing control of a cubical robot, this paper makes a research on the dynamic modeling of the cubical robot balancing on its corner. Using the prototype of cubical robot we built as the research object, the dynamic model is derived with Lagrangian method on foundation of analysis of coordinate transformation relation of cubical robot. The correctness of the model is verified in theory by numerical simulation. The controller, designed based on reaction torque characteristic of inertia wheels, is used in balance control of the cubical robot. The effectiveness of the controller is verified again with the obtained expect effect. The dynamic model developed and controller can provide a base for further study of balance control of a cubical robot.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.