一种新型动态移动载荷两轮机器人的实时验证

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI:10.1109/ROMAN.2014.6926237

O. Sayidmarie, M. Tokhi, S. A. Agouri

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引用次数: 3

摘要

在实际应用中，两轮机器人被认为携带不同大小的有效载荷，并在垂直轴上以不同的位置或运动速度移动。为了解释这些参数对机器人稳定性和控制机构的影响，需要详细研究这些参数的影响。本文研究了载荷位置动态变化的影响;研究了机器人在平衡状态下的系统阻尼特性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Real-time validation of a novel two-wheeled robot with a dynamically moving payload

In real life applications, two-wheeled robots are considered to carry payloads of different sizes and at different positions or motion speeds the vertical axis. Studying the impact of those parameters should be considered in detail in order to account for their impact on the robot stability and the control mechanism. This paper investigates the impact of changing the payload position dynamically; on the system damping characteristics while the robot in its balancing state.

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The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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