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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Study of a Two-wheel Mobile Robot with Linear Workspace Extension Structures

선형 작업 영역 확장 구조를 가진 두 바퀴 구동 모바일 로봇에 대한 연구

  • Bae, Yeong-Geol (Mechatronics Engineering Department, Chungnam National University) ;
  • Jung, Seul (Mechatronics Engineering Department, Chungnam National University)
  • 배영걸 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2014.11.15
  • Accepted : 2015.02.25
  • Published : 2015.04.01
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Abstract

This paper presents a two-wheel balancing mobile robot with linear workspace extension structures. The two-wheel mobile robot has two linear motions at the waist and shoulder to have extended workspace. The linear motion of the waist and shoulder provides some structural advantages. A dynamic equation of the simplified robot system is derived. Simulation studies of the position control of the robot system are performed based on the dynamic equations. The dynamic relationship between a two-wheel mobile system and linear extension mechanism is observed by simulation studies.

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