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Author Majima, S. ♦ Kasai, T. ♦ Kadohara, T.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2006
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Mobile robots ♦ Robot kinematics ♦ Wheels ♦ Motion control ♦ Equations ♦ DC motors ♦ Robot control ♦ Regulators ♦ Friction ♦ Control systems
Abstract We have developed a unicycle robot that consists of a body, a disk driven by a DC motor for rotation, and a wheel driven by another DC motor to move the body. Since there is no direct force for changing the yaw direction of the robot, conventional controllers cannot change the yaw direction. The present paper proposes a control method for changing the yaw direction by using the interaction between individual motions in the yaw, pitch, and roll directions. Simulation results show the performances of the proposed controller. 1) The proposed control method is useful for a regulator problem and can control the yaw direction of the unicycle robot toward zero from any initial value. 2) The controller can cancel a disturbance applied to the robot motion
Description Author affiliation: Graduate Sch. of Syst. & Inf. Eng., Tsukuba Univ., Ibaraki (Majima, S.; Kasai, T.; Kadohara, T.)
ISBN 1424405483
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2006-11-14
Publisher Place China
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 3.66 MB
Page Count 4
Starting Page 1
Ending Page 4


Source: IEEE Xplore Digital Library