Modeling of Two-Wheeled Self-Balancing Robot Driven by DC Gearmotors
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Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Park Komenského 8, 042 00 , Košice, Slovakia
University of Zielona Góra, Faculty of Mechanical Engineering, Institute of Machine Building and Operation, Zielona Góra, Poland
Kalashnikov Izhevsk State Technical University, 7 Studencheskaya St., 426069, Izhevsk, Russian Federation
Online publication date: 2017-09-09
Publication date: 2017-08-01
International Journal of Applied Mechanics and Engineering 2017;22(3):739-747
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.
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