Mathematical Modeling of the Bicycle Robot with the Reaction Wheel

Adam Owczarkowski; Piotr Kozierski; Marcin Lis

doi:10.14313/JAMRIS_3-2015/19

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Title

Mathematical Modeling of the Bicycle Robot with the Reaction Wheel

Authors

Adam Owczarkowski (WE) ^{[ 1 ][ D ]}
Piotr Kozierski (WE) ^{[ 1 ][ D ]}
Marcin Lis (WE) ^{[ 1 ][ D ]}

^{[ 1 ]} Wydział Elektryczny, Politechnika Poznańska | ^{[ D ]} phd student

Year of publication

2015

Published in

Journal of Automation, Mobile Robotics & Intelligent Systems - JAMRIS

Journal year: 2015 | Journal volume: vol. 9 | Journal number: no. 3

Article type

scientific article

Publication language

english

Keywords

EN

inertia wheel pendulum
reaction wheel
bicycle robot
dynamic model

Abstract

EN The article presents the influence of the reaction wheels on the stability of the bicycle robot. The precise mathematical model is presented. The robot is treated as an inverted pendulum with rigid body physical nature. The mathematical analysis can be useful to develop control techniques, to make many computer simulations, to check how the system will behave in reality.

Pages (from - to)

3 - 8

DOI

10.14313/JAMRIS_3-2015/19

URL

https://www.jamris.org/index.php/JAMRIS/issue/view/28

Ministry points / journal

12

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