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Dynamic modeling and verification of unicycle mobile robot system

Unicycle mobile robot main advantages over multiwheeled mobile robot are higher degree of mobility and less space as it only has one wheel to move. The system developed consists of two parts which are the lower and the upper parts. The lower part is composed of a wheel which is moving back and for...

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Main Authors: Abdul Rashid, Mohd Zamzuri, Sidek, Shahrul Na'im
Format: Conference or Workshop Item
Language:English
Published: 2011
Subjects:
TA168 Systems engineering
Online Access:http://irep.iium.edu.my/2233/1/2011ICOM_Unicycle.pdf
http://irep.iium.edu.my/2233/
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5937199&tag=1
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spelling my.iium.irep.22332019-01-10T05:07:27Z http://irep.iium.edu.my/2233/ Dynamic modeling and verification of unicycle mobile robot system Abdul Rashid, Mohd Zamzuri Sidek, Shahrul Na'im TA168 Systems engineering Unicycle mobile robot main advantages over multiwheeled mobile robot are higher degree of mobility and less space as it only has one wheel to move. The system developed consists of two parts which are the lower and the upper parts. The lower part is composed of a wheel which is moving back and forth to stabilize the pitch angle. Meanwhile, the upper part consists of a reaction disc and the main frame that functions to stabilize the roll angle of the unicycle system. The dynamic model of the unicycle mobile robot is de veloped using Lagrangian method and verified through simulation using MATLAB software. The results show that the dynamic model developed can be used to design a model-based controller. 2011 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/2233/1/2011ICOM_Unicycle.pdf Abdul Rashid, Mohd Zamzuri and Sidek, Shahrul Na'im (2011) Dynamic modeling and verification of unicycle mobile robot system. In: 4th International Conference on Mechatronics (ICOM'11), 17-19 May 2011, Kuala Lumpur. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5937199&tag=1
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
topic TA168 Systems engineering
spellingShingle TA168 Systems engineering
Abdul Rashid, Mohd Zamzuri
Sidek, Shahrul Na'im
Dynamic modeling and verification of unicycle mobile robot system
description Unicycle mobile robot main advantages over multiwheeled mobile robot are higher degree of mobility and less space as it only has one wheel to move. The system developed consists of two parts which are the lower and the upper parts. The lower part is composed of a wheel which is moving back and forth to stabilize the pitch angle. Meanwhile, the upper part consists of a reaction disc and the main frame that functions to stabilize the roll angle of the unicycle system. The dynamic model of the unicycle mobile robot is de veloped using Lagrangian method and verified through simulation using MATLAB software. The results show that the dynamic model developed can be used to design a model-based controller.
format Conference or Workshop Item
author Abdul Rashid, Mohd Zamzuri
Sidek, Shahrul Na'im
author_facet Abdul Rashid, Mohd Zamzuri
Sidek, Shahrul Na'im
author_sort Abdul Rashid, Mohd Zamzuri
title Dynamic modeling and verification of unicycle mobile robot system
title_short Dynamic modeling and verification of unicycle mobile robot system
title_full Dynamic modeling and verification of unicycle mobile robot system
title_fullStr Dynamic modeling and verification of unicycle mobile robot system
title_full_unstemmed Dynamic modeling and verification of unicycle mobile robot system
title_sort dynamic modeling and verification of unicycle mobile robot system
publishDate 2011
url http://irep.iium.edu.my/2233/1/2011ICOM_Unicycle.pdf
http://irep.iium.edu.my/2233/
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5937199&tag=1
_version_ 1643618372506615808
score 13.211869

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