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Dynamic modeling of a two-wheeled inverted pendulum balancing mobile robot

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  • Robotics and Automation
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Abstract

Many of the currently available dynamic models for the two-wheeled balancing mobile robot have some common mistakes, which are mainly due to misunderstanding about the coordinate systems to describe the rotating motions and a lack of rigorous comparison with former derivations. This paper investigates the modeling procedures for the 2WBMR in terms of the Lagrangian approach and Kane’s method, through which an exact dynamic model is given, and we discuss how the modeling errors in the former works were induced. Numerical examples are given to see the effect of the erroneous terms on the postural stability.

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Authors and Affiliations

  1. School of Aerospace and Mechanical Engineering, Korea Aerospace University, Goyang, 412-791, Korea

    Sangtae Kim & SangJoo Kwon

Authors
  1. Sangtae Kim
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  2. SangJoo Kwon
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Corresponding author

Correspondence to SangJoo Kwon.

Additional information

Recommended by Associate Editor Kyu-Jin Cho under the direction of Editor Hyouk Ryeol Choi.

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF-2012R1A1B3003886).

Sangtae Kim received his B.S. and M.S. degrees in Aerospace and Mechanical Engineering from Korea Aerospace University, in 2008 and 2010, respectively. He is currently working toward a Ph.D. degree in School of Aerospace and Mechanical Engineering, Korea Aerospace University. His research interests include design, analysis, and nonlinear optimal control of two-wheeled balancing mobile robot.

SangJoo Kwon received his B.S. degree in Naval Architecture and Ocean Engineering from Seoul National University in 1989, and his M.S. and Ph.D. degrees in Mechanical Engineering from Pohang University of Science and Technology (POSTECH), in 1991 and 2002, respectively. He was with the Agency for Defense Development of Korea from 1991 to 1997 as a Research Scientist and the Korea Institute of Science and Technology in 2003 and the Korea Institute of Industrial Technology in 2004 as a Senior Researcher. Currently, he is an Associate Professor in School of Aerospace and Mechanical Engineering, Korea Aerospace University. His current research interests include mobile robot design and control, optimal planning, and filtering.

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Kim, S., Kwon, S. Dynamic modeling of a two-wheeled inverted pendulum balancing mobile robot. Int. J. Control Autom. Syst. 13, 926–933 (2015). https://doi.org/10.1007/s12555-014-0564-8

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  • DOI: https://doi.org/10.1007/s12555-014-0564-8

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