Dynamic modeling and verification of unicycle mobile robot system
Unicycle mobile robot main advantages over multiwheeled mobile robot are higher degree of mobility and less space as it only has one wheel to move. The system developed consists of two parts which are the lower and the upper parts. The lower part is composed of a wheel which is moving back and for...
| Main Authors: | , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/2233/1/2011ICOM_Unicycle.pdf |
| _version_ | 1796874867438518272 |
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| author | Abdul Rashid, Mohd Zamzuri Sidek, Shahrul Na'im |
| author_facet | Abdul Rashid, Mohd Zamzuri Sidek, Shahrul Na'im |
| author_sort | Abdul Rashid, Mohd Zamzuri |
| collection | IIUM |
| description | Unicycle mobile robot main advantages over multiwheeled
mobile robot are higher degree of mobility and less space
as it only has one wheel to move. The system developed consists of two parts which are the lower and the upper parts. The lower part is composed of a wheel which is moving back and forth to stabilize the pitch angle. Meanwhile, the upper part consists of a reaction disc and the main frame that functions to stabilize the roll angle of the unicycle system. The dynamic model of the unicycle mobile robot is de veloped using Lagrangian method and verified through simulation using MATLAB software. The
results show that the dynamic model developed can be used to
design a model-based controller. |
| first_indexed | 2024-03-05T22:30:37Z |
| format | Proceeding Paper |
| id | oai:generic.eprints.org:2233 |
| institution | International Islamic University Malaysia |
| language | English |
| last_indexed | 2024-03-05T22:30:37Z |
| publishDate | 2011 |
| record_format | dspace |
| spelling | oai:generic.eprints.org:22332019-01-10T05:07:27Z http://irep.iium.edu.my/2233/ Dynamic modeling and verification of unicycle mobile robot system Abdul Rashid, Mohd Zamzuri Sidek, Shahrul Na'im TA168 Systems engineering Unicycle mobile robot main advantages over multiwheeled mobile robot are higher degree of mobility and less space as it only has one wheel to move. The system developed consists of two parts which are the lower and the upper parts. The lower part is composed of a wheel which is moving back and forth to stabilize the pitch angle. Meanwhile, the upper part consists of a reaction disc and the main frame that functions to stabilize the roll angle of the unicycle system. The dynamic model of the unicycle mobile robot is de veloped using Lagrangian method and verified through simulation using MATLAB software. The results show that the dynamic model developed can be used to design a model-based controller. 2011 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/2233/1/2011ICOM_Unicycle.pdf Abdul Rashid, Mohd Zamzuri and Sidek, Shahrul Na'im (2011) Dynamic modeling and verification of unicycle mobile robot system. In: 4th International Conference on Mechatronics (ICOM'11), 17-19 May 2011, Kuala Lumpur. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5937199&tag=1 |
| spellingShingle | TA168 Systems engineering Abdul Rashid, Mohd Zamzuri Sidek, Shahrul Na'im Dynamic modeling and verification of unicycle mobile robot system |
| title | Dynamic modeling and verification of unicycle mobile robot system |
| title_full | Dynamic modeling and verification of unicycle mobile robot system |
| title_fullStr | Dynamic modeling and verification of unicycle mobile robot system |
| title_full_unstemmed | Dynamic modeling and verification of unicycle mobile robot system |
| title_short | Dynamic modeling and verification of unicycle mobile robot system |
| title_sort | dynamic modeling and verification of unicycle mobile robot system |
| topic | TA168 Systems engineering |
| url | http://irep.iium.edu.my/2233/1/2011ICOM_Unicycle.pdf |
| work_keys_str_mv | AT abdulrashidmohdzamzuri dynamicmodelingandverificationofunicyclemobilerobotsystem AT sidekshahrulnaim dynamicmodelingandverificationofunicyclemobilerobotsystem |