Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Dynamic Modeling and Performance Improvement of a Unicycle Robot

외바퀴 로봇 다이나믹 모델과 성능 개선

  • 김성하 (부산대학교 전기전자공학과) ;
  • 이재오 (부산대학교 전기전자공학과) ;
  • 황종명 (부산대학교 전기전자공학과) ;
  • 안부환 (부산대학교 전기전자공학과) ;
  • 이장명 (부산대학교 전기전자공학과)
  • Received : 2009.12.24
  • Accepted : 2010.09.30
  • Published : 2010.11.01
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Abstract

Today, the research related to the robot is achieved in various part. With the high interest in means of transport, various researches about autonomous mobile robot and next generation transport is continuing. The unicycle robot among these needs much control technique like balance control model and driving model. For autonomous driving of this unicycle robot, from the basic balance control to direction switching control and velocity control are needed. But the environment elements like a gradient and frictional force or unbalanced elements from the structural feature. The unicycle needs the real time balance control so more complex, harder to control. And when functional addition is made, the problem that fall entire reaction velocity or accuracy would be happen. This paper introduces entire dynamics modeling of the unicycle robot and reduced model. And propose the new balance control algorithm using fuzzy controller. Also the evaluation about performance would be made through the test.

Keywords

References

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