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This paper introduces a method of design and implementation of a two-wheeled inverted pendulum (TWIP) robot with friction compensation. Friction in the drive mechanism is a critical factor of robot self-balancing and affects its performance. The friction parameters are identified based on the dynamic model of the drive mechanism. The dynamics of the whole robot system are obtained by the Lagrangian...
A multi-DOF two-wheeled robot is considered, the research is aimed to develop the dynamic model and balance control scheme of the robot. A balance weight is involved to compose a new DOF, the dynamic model of the robot is established with Lagrange equations. To facilitate the modelling and design control scheme, the dynamic model is simplified and the displacement of balance weight is chosen as control...
Two wheeled inverted pendulum (TWIP) robot is widely used in various applications for its zero turning radius, small footprint and other advantages. However, the traditional TWIP robot can not keep upright when climbs or descends on a slope, which makes the operator sitting on the robot feel unsafe and uncomfortable. This paper introduces a Multi-DOF TWIP robot, which adding a movable weight to the...
This paper presents a robot with double tracks, composed of two segments connected with a joint in mechanical structure. As the angle between the two segments of the robot platform can be changed, the robot can work like a four-tracked robot for moving on many terrains. Change rule of the centroid position in obstacle-surmounting process is analyzed. Moving posture during step climbing are discussed,...
According to the terrain features of irregular environment, a novel mobile mechanism of the transformable wheel-track robot is proposed. The robot can adapt to the irregular environment by transforming the track configuration. The robot mechanism consists of a control box, two symmetric transformable wheel-track units and a sub-arm equipped with a single-direction wheel. The wheel-track unit is composed...
Two wheeled inverted pendulum (TWIP) robots are used widely for personal transporters and robotics mobile platforms. However, the robot body cannot remain vertical when TWIP robot climbs up and down a slope. It makes the passenger sitting on the robot uncomfortably and unsafely. Similarly, when TWIP robot turns sharply, there is a great risk of overturning. A multi-DOF TWIP robot is proposed in this...
By analyzing the hybrid property of Microgrid in detail, a mixed logical dynamical model is set up with Hybrid theory. The energy in DC bus capacitor is chosen as state variable, the system functions and constraints with continuous state variables, input control variables, logical variables and auxiliary variables are presented. Based on the MLD model, model predictive control theory is applied for...
Two-wheeled mobile robot is known for advantages on performing better manuever in a confined space. It is a typical mobile robot with some features such as complexity, highly nonlinear, instability, multi-variable and strongly coupling. This research is aimed to design and develop the dynamic model and balance control strategy of the robot. A Gibbs-Appell equation is applied to build the dynamic model...
This paper presents a robot with double tracks, composed of two segments connected with a joint in mechanical structure. The robot can work like a four-tracked robot for moving on many terrains. Moving posture during robot stairs climbing is discussed, this is a typical case and is useful for designing the robot platform. Static stability analysis of the robot performance on rough terrains is complicated,...
A two-wheeled robot with a movable seat is proposed in this paper, which can turn with zero-radius and whose seat can move up and down, front and back. Firstly, the overall structure and the control system of the robot is introduced; secondly, a new filtering method called RC and Kalman filtering method is designed to get the posture of the robot; then, the robot's dynamics model is established by...
This paper provides a design scheme for a small-scale photovoltaic (PV) power system in an effort to cut the design cycle and cost while ensuring the system performance. A two-stage topology and a corresponding control strategy are analyzed and applied. A dual-core controller is applied in an 800W single-phase grid-connected PV power system. In this controller, one processor is an FPGA with the A/D...
Two effective control strategies were described in this paper respectively when the microgrid (MG) operated in grid-connected mode or islanded mode. For islanded operation mode, a novel cooperative control strategy of energy storage system and microsources (MSs) was proposed in details. The proposed control strategy improved the shared power requirements among the DG units, power and restore frequency...
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