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http://dx.doi.org/10.5302/J.ICROS.2015.14.8033

Study of a Two-wheel Mobile Robot with Linear Workspace Extension Structures  

Bae, Yeong-Geol (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.4, 2015 , pp. 342-348 More about this Journal
Abstract
This paper presents a two-wheel balancing mobile robot with linear workspace extension structures. The two-wheel mobile robot has two linear motions at the waist and shoulder to have extended workspace. The linear motion of the waist and shoulder provides some structural advantages. A dynamic equation of the simplified robot system is derived. Simulation studies of the position control of the robot system are performed based on the dynamic equations. The dynamic relationship between a two-wheel mobile system and linear extension mechanism is observed by simulation studies.
Keywords
workspace extension structures; balancing mobile robot; dynamic relationship;
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Times Cited By KSCI : 2  (Citation Analysis)
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