특이 섭동 기법 기반의 이륜 역진자 로봇 궤적 생성 기법

Abstract

We propose a method that computes an inverse solution of the wheeled inverted pendulum (TWIP) for trajectory tracking problem using singular perturbation principle. We observe that the TWIP shows a combined slow and fast behaviors during motion, where the slow motion is the gross motion of the TWIP while the fast motion is the pitch motion of the TWIP itself. The singular parameter, which separates slow and fast parts of dynamics, is defined by pendulum’s mass and length parameters. The proposed method considers dynamic and kinemaitc constraints, parameterized with the singular parameter defined, with appropriate boundary conditions to obtain a consistent solution that is mathematically expressed by infinite series. Details of the solution method is presented and validated via experimentation with linear and circle tracking tasks.