Abstract
By Muhammad Yasir Amir Khan, Vali Uddin Abbas. Proposed modeling and control of wheeled inverted pendulum (WIP), an underactuated and highly unstable system, as a hybrid automation based on torque equations rather than Lagrangian method.
Highlights
The type of robot investigated in this paper is a mobile robot with an inverted pendulum and a pair of wheels
The wheeled inverted pendulum (WIP) system may initially be mistaken to be similar to an inverted pendulum-cart system
In case of an inverted pendulum on a cart, the pendulum is cart mounted with tilt-angular motion with respect to cart and the actuator may be mounted on the cart or may not even be on board, whereas in a WIP system, the motors are mounted on the pendulum
Summary
The type of robot investigated in this paper is a mobile robot with an inverted pendulum and a pair of wheels. In WIP, the two independent wheels are co-axial and placed on the left and right hand side of the robot. These wheels are used for controlling the position of the machine [1]. An under-actuated system is a physical system which possesses lesser number of actuators than the degrees of freedom In this robot there are two actuators in the form of wheels on either side of it. In case of WIP both wheels can be driven independently resulting in yaw motion in addition to the translational motion [2]
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