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2 Kinematics and Dynamics

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Control of Single Wheel Robots

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 20))

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Abstract

Previously, Gyrover was controlled only manually, using two joysticks to control the drive and tilt motors through a radio link. A complete dynamic model is necessary to develop automatic control of the system. In the following sections, we will develop the nonholonomic kinematics constraints, as well as a dynamic model using the constrained generalized Lagrangian formulation.

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Authors and Affiliations

  1. Chinese University of Hong Kong Centre for Micro and Nano Systems Department of Automation and Computer-Aided Engineering Shatin, New Territories, Hong Kong SAR

    Yangsheng Xu & Yongsheng Ou

Authors
  1. Yangsheng Xu
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  2. Yongsheng Ou
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Xu, Y., Ou, Y. 2 Kinematics and Dynamics. In: Control of Single Wheel Robots. Springer Tracts in Advanced Robotics, vol 20. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11430001_2

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  • DOI: https://doi.org/10.1007/11430001_2

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-28184-9

  • Online ISBN: 978-3-540-31501-8

  • eBook Packages: EngineeringEngineering (R0)

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