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Positioning and tracking control of an amphibious single wheel robot

Marzban, M ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. DOI: 10.1115/IMECE2008-66281
  3. Publisher: 2009
  4. Abstract:
  5. Amphibious single wheel robot consists of a sharp-edged wheel actuated by a spinning flywheel for steering and a drive motor for propulsion. The spinning flywheel acts as a gyroscope to stabilize the robot and also can be tilted to achieve steering. In this paper, the kinematics of a single wheel robot in water, Gyrover, is analyzed and then a simple mechanism for driving it is proposed. In previous studies, Lagrange approach is used for hydrodynamic modeling of the robot. A nonlinear position controller is designed to bring the robot to any desired position. Based on the designed controller, a tracking controller is augmented to the robot. For simplicity the added mass effect has been neglected in hydrodynamic analysis. Since the robot under consideration is compact and slow enough, this assumption is not far from reality. Copyright © 2008 by ASME
  6. Keywords:
  7. Dynamic ; Added mass ; Amphibious robot ; Desired position ; Drive motors ; Gyrover ; Hydrodynamic analysis ; Hydrodynamic modeling ; Lagrange approach ; Position controller ; Positioning and tracking ; Single wheel robot ; Single-wheel robots ; Tracking control ; Tracking controller ; Controllers ; Fluid dynamics ; Flywheels ; Hydrodynamics ; Mechanical engineering ; Navigation ; Robots ; Tracking (position) ; Wheels ; Position control
  8. Source: 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, MA, 31 October 2008 through 6 November 2008 ; Volume 11 , 2009 , Pages 545-551 ; 9780791848722 (ISBN)
  9. URL: https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2008/48722/545/335370