DYNAMIC BALANCING OF AN UNDER-ACTUATED DIFFERENTIAL TWO WHEELEDMANIPULATORBY A REACTION WHEEL

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LARIMI S.R.; MOOSAVIAN S.A.A.

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Paper Information

Journal: Modares Mechanical Engineering Year:2013 | Volume:13 | Issue:8 Page(s): 79-92

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Information Journal Paper

Title

DYNAMIC BALANCING OF AN UNDER-ACTUATED DIFFERENTIAL TWO WHEELEDMANIPULATORBY A REACTION WHEEL

Author(s)

LARIMI S.R. | MOOSAVIAN S.A.A. | Issue Writer Certificate

Keywords

TWO-WHEELED ROBOTQ2

NON-HOLONOMIC CONSTRAINTQ2

UNDER-ACTUATED JOINTQ2

REACTION WHEELQ2

Abstract

In this article, a new stabilizing mechanism for a two wheel robot is proposed. Such systems, due to inherent instability, require dynamic stabilization. The conventional method for stabilizing these robots is moving the base back and forth, to use its inertia effects. Therefore, such strategies drastically depend on the ground surface, besides the robot is not able to reconfigure its manipulator to do any desired task. These limitations reduce the capability of the robot to manipulate objects, and to perform accurate tasks. In order to omit these restrictions, in the developed mechanism, a REACTION WHEEL is used. The proposed mechanism exploits the inertia moment of REACTION WHEEL to stabilize motion of the robot. Therefore, since there is no interaction between the REACTION WHEEL and the ground surface, by using this mechanism there would be no concern about the surface that the robot moves on that. Also, manipulator of the robot can track the given trajectories, without considering stability limitations. In order to show the performance of proposed mechanism, a verified dynamics model of the robot is used and the control algorithm with various initial conditions is simulated.

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APA: Copy

LARIMI, S.R., & MOOSAVIAN, S.A.A.. (2013). DYNAMIC BALANCING OF AN UNDER-ACTUATED DIFFERENTIAL TWO WHEELEDMANIPULATORBY A REACTION WHEEL. MODARES MECHANICAL ENGINEERING, 13(8), 79-92. SID. https://sid.ir/paper/178614/en

Vancouver: Copy

LARIMI S.R., MOOSAVIAN S.A.A.. DYNAMIC BALANCING OF AN UNDER-ACTUATED DIFFERENTIAL TWO WHEELEDMANIPULATORBY A REACTION WHEEL. MODARES MECHANICAL ENGINEERING[Internet]. 2013;13(8):79-92. Available from: https://sid.ir/paper/178614/en

IEEE: Copy

S.R. LARIMI, and S.A.A. MOOSAVIAN, “DYNAMIC BALANCING OF AN UNDER-ACTUATED DIFFERENTIAL TWO WHEELEDMANIPULATORBY A REACTION WHEEL,” MODARES MECHANICAL ENGINEERING, vol. 13, no. 8, pp. 79–92, 2013, [Online]. Available: https://sid.ir/paper/178614/en

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