A New Iterative Algorithm for the Inverse Kinematic Problem and Its Application to Unmanned Electric Bicycle System

Abstract

In the former researches (Ingyu Park, et al., 2001), (Sangduck Lee and Woonchul Ham, 2002), (Seonghoon Kim and Woonchul Ham, 2004), we suggested an algorithm which can be used for deriving the nonlinear inverse kinematic problem in unmanned bicycle system by using iterative method. In this short note, we reinforce the former method and propose a new iterative algorithm for a certain type of nonlinear dynamic equation such as inverse kinematics of bicycle system. The idea of proposed algorithm is similar to Piccard's iterative method in basic concept. We also propose a robust control strategy for tracking problem in bicycle system based on nonlinear compensation. In this control algorithm, we invent and attach the load mass balance system for the self stabilization with more ease. From the computer simulation results, we can see that the proposed control algorithm can be applied to the real system.