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- 2019-07-13 发布于广东
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Absn‘act
noIllinear haSthecharactersof
The robotisana:turalunstable
bicycle system.n
inherentn0IlliIlear锄d
dynaIIlics眨Lbili何Amd吐le coupling
static枞il匆锄d de印ly
tlle ofitmuChmoredimcun.Therobot
cl掰acters robotmakecon们l bicycle
ofbicycle
in solVetllis
con们lisadimcult robotics.T0 problem,
dynamjcmodeliI培aIld problem
t:hcmetllodof and
uses
this咖dy modeling,controllerdesi孕血g
of robot.
ontlleissuesofbalanceconlTol
bicyclc
l【ind modelfor
of con们l s堍le—o呻utd),IlaIIlic
Fi刚y’a Steering sill91e一邱ut
robotis basedon memod.Alinear
bicycle presented La铲ange systelnw嬲presented
baSedon lineariz.ation in_t0aCcountmef犯torsof
the印proximate method.T掘ng
of nle the
steering
bicyclespeeda仃IectiI培tllebodyposture,andtal【ing torque锄d
rear model
of l【indof w硒presented
driViI玛torquewheel舔systemiIlpms,a dynamic
baSed0n m砒od.
La伊ange
con仃oller锄dtlle con们ller
conS僦s、)l,itc量ling
Secondly,s丽tcl血19 proportional
fortlle linear
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