Creator:

Frankovský, Peter ; Dominik, L. ; Gmiterko, Alexander ; Virgala, Ivan ; Kuryło, Piotr ; Perminova, O.

Contributor:

Jurczak, Paweł - red.

Title:

Modeling of two-wheeled self-balancing robot driven by DC gearmotors

Group publication title:

IJAME, volume 22 (2017)

Subject and Keywords:

self-balancing robot ; inverted pendulum ; DC gearmotor ; state space model

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.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2017

Resource Type:

artykuł

Format:

application/pdf

DOI:

10.1515/ijame-2017-0046

Pages:

739-747

Source:

IJAME, volume 22, number 3 (2017)

Language:

eng

License:

CC 4.0

License CC BY-NC-ND 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego