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경사로에서 이륜 역진자 로봇의 안정적인 주행제어Stable Driving Control of Two wheeled inverted pendulum robot on the slope
- Other Titles
- Stable Driving Control of Two wheeled inverted pendulum robot on the slope
- Issue Date
- Nov-2015
- Publisher
- 대한기계학회
- Keywords
- Two Wheeled Pendulum Robot(이륜 역진자 로봇); Optimal Control(최적 제어)
- Citation
- 대한기계학회 창립 70주년 기념 학술대회, pp.3579 - 3581
- Indexed
- OTHER
- Journal Title
- 대한기계학회 창립 70주년 기념 학술대회
- Start Page
- 3579
- End Page
- 3581
- Abstract
- This paper proposes climbing algorithm for a two wheeled pendulum robot Until now, a lot of research have been studied on the flat Additionally, the research on the slope driving is needed. The dynamics of two wheeled pendulum robot is obtained by using Kane's method, and two wheeled pendulum robot is controlled by LQR controller. System is modeled by 3-dgree of freedom equation. and we can get reaction force when robot rotate on the slope. Finally the optimal rotation speed of robot is obtained.
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Collections - 서울 공과대학 > 서울 기계공학부 > 1. Journal Articles
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