Return to search

Dynamics and control of a single wheel, gyroscopically stabilized robot.

by Kwok-wai Au. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1999. / Includes bibliographical references (leaves 55-58). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgments --- p.iii / Contents --- p.iv / List of Figures --- p.vi / List of Tables --- p.viii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Previous work --- p.5 / Chapter 1.3 --- Thesis overview --- p.7 / Chapter 2 --- Dynamics of the Single Wheel Robot --- p.10 / Chapter 2.1 --- Dynamic model of a rolling disk --- p.10 / Chapter 2.1.1 --- Kinematic constraints --- p.11 / Chapter 2.1.2 --- Equations of motion --- p.13 / Chapter 2.1.3 --- Characteristics of the rolling disk --- p.15 / Chapter 2.2 --- Dynamic model of the single wheel robot --- p.18 / Chapter 2.2.1 --- Coordinate frames and generalized coordinates --- p.19 / Chapter 2.2.2 --- Equations of motion --- p.21 / Chapter 2.2.3 --- Model simplification --- p.24 / Chapter 2.3 --- Dynamic properties of the single wheel robot --- p.27 / Chapter 3 --- Stabilization of the Single Wheel Robot --- p.30 / Chapter 3.1 --- Linearized model --- p.30 / Chapter 3.2 --- Controllability and non-minimum phase characteristics --- p.33 / Chapter 3.3 --- Linear state feedback --- p.33 / Chapter 3.4 --- Simulation Study --- p.35 / Chapter 4 --- Path Following of the Single Wheel Robot --- p.37 / Chapter 4.1 --- Path following for nonholonomic systems --- p.37 / Chapter 4.2 --- Definition of path following --- p.39 / Chapter 4.3 --- New configuration --- p.39 / Chapter 4.4 --- Line following --- p.41 / Chapter 4.4.1 --- Velocity control law --- p.42 / Chapter 4.4.2 --- Convergence for the velocity control law --- p.43 / Chapter 4.4.3 --- Torque control law --- p.45 / Chapter 4.5 --- Simulation study --- p.47 / Chapter 4.5.1 --- Effect of the initial heading angle --- p.47 / Chapter 4.5.2 --- Effect of the rolling speed --- p.49 / Chapter 4.5.3 --- Follow a desired line --- p.50 / Chapter 4.5.4 --- Effect of the smoothness parameter --- p.50 / Chapter 5 --- Conclusion --- p.52 / Chapter 5.1 --- Contributions --- p.52 / Chapter 5.2 --- Future work --- p.53 / Bibliography --- p.55

Identiferoai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_322777
Date January 1999
ContributorsAu, Kwok Wai., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering.
Source SetsThe Chinese University of Hong Kong
LanguageEnglish, Chinese
Detected LanguageEnglish
TypeText, bibliography
Formatprint, viii, 58 leaves : ill. ; 30 cm.
RightsUse of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/)

Page generated in 0.0022 seconds