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《Journal of Beijing Institute of Technology》 2004-12
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Modeling and Experiments of a Coaxial Two Wheel Robot

LI Hang~(1,2),SUN Hou-fang~1,HAN Jian-hai~2,LI Ji-shun~2,ZHAO Shu-shang~2,LIN Qing-song~2(1.School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081, China; 2.School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang, Henan471003, China)  
The structure and mathematical modeling of a two wheel coaxial robot are studied. The system is made up of a mobile mechanism, sensor for posture observation and the controller. The right and left wheels are driven separately by two DC servo motors. Gyroscope and angle sensors are used for posture observation. On the basis of building up the system structure model, kinetic equation is built up using the Lagrange's method. With the linear system theory, state-feed back controller is designed on Matlab, and the stability of system is proved by simulation results. Validity and rationality of the system modeling and the designed controller are verified through the performance experiments of the prototype.
【Fund】: 河南省科技攻关项目(0424220152)
【CateGory Index】: TP242.6
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