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- Title
A PARAMETER STUDY OF A HYBRID PENDULUM/BALANCING MOBILE ROBOT.
- Authors
Sinkevičius, Vytenis
- Abstract
Two-wheeled single-axis mobile robots are highly maneuverable. Their radius of gyration is zero. Such robots can be pendulums or balancing (inverted pendulums). A pendulum robot can transform into a balancing robot gaining additional advantages. The influence of the inertia moments and the pendulum mass on the robot's movement and transformation process was investigated in this work. A robot with improperly selected parameters will not be able to transform at all. In other cases, the transformation will take a very long time and during it the robot will travel a long distance. Therefore, it is necessary to evaluate these parameters already during the design of the robot.
- Subjects
MOBILE robots; PENDULUMS; ELECTRIC motors; ACTUATORS; PARAMETER estimation
- Publication
Applied Research in Studies & Practice / Taikomieji Tyrimai Studijose ir Praktikoje, 2022, Vol 18, Issue 1, p5
- ISSN
2029-1280
- Publication type
Article