Modeling of Two-Wheeled Self-Balancing Robot Driven by DC Gearmotors

Autor:	P. Frankovský, L. Dominik, A. Gmiterko, I. Virgala, P. Kurylo, O. Perminova
Jazyk:	angličtina
Rok vydání:	2017
Předmět:	self-balancing robot inverted pendulum dc gearmotor state space model Mechanical engineering and machinery TJ1-1570
Zdroj:	International Journal of Applied Mechanics and Engineering, Vol 22, Iss 3, Pp 739-747 (2017)
Druh dokumentu:	article
ISSN:	1734-4492 2353-9003
DOI:	10.1515/ijame-2017-0046
Popis:	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.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/08fdaec64c4c4dab8431303b46319a7a Zobrazit plný text záznamu View record in DOAJ