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http://dx.doi.org/10.5302/J.ICROS.2015.15.0102

Analysis of Relationship between Body and Gimbal Motion Through Experiment of a Single-wheel Robot Based on an Inverse Gyroscopic Effect  

Lee, Sang-Deok (Mechatronics Engineering Department, Chungnam National University)
Jung, Seul (Mechatronics Engineering Department, Chungnam National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.11, 2015 , pp. 1064-1069 More about this Journal
Abstract
Control Moment Gyro (CMG) has been used as an indirect actuator of a single-wheel robot system GYROBO, developed at Chungnam National University. The flip motion of the gimbal system produces the gyroscopic motion onto the body system while the body motion also produces the gyroscopic motion onto the gimbal system inversely. In this paper, the intuitive equation of the inverse gyroscopic effect is derived as the direct relation between the rate of the body system and the rate of the gimbal system. Experiments on the inverse gyroscopic effect under the chaotically generated disturbance are conducted. Experimental data are approximated by a linear equation using the least square method.
Keywords
GYROBO; CMG; inverse gyroscopic effect; least square method;
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Times Cited By KSCI : 2  (Citation Analysis)
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