Dynamics Modeling and Trajectory Tracking of Snakeboard Robot
Publish place: 16th Annual Conference on Mechanical Engineering
Publish Year: 1387
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ISME16_851
تاریخ نمایه سازی: 20 آبان 1386
Abstract:
This paper considers the modeling and control of a commercially available variant of the skateboard, known as snakeboard. For this purpose, a mechanism is designed in order to model the body of a human on the snakeboard, its movements on the board and the effect of each part on the neighbouring parts. For the designed mechanism, the generalized coordinates are assigned and the equations of motion are derived with respect to assigned set of generalized coordinates by means of Lagrange's method. Analysis and simulations are performed for this set of equations. Indeed, a model of the board has been made and experimented in order to verify the results of dynamics simulation. In the final step, using sliding mode control method, controllability analysis is performed. Using the sliding mode controller the results of trajectory tracking along of a straight line is investigated to determine the performance of the proposed controller.
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Authors
Ali Nikbakht
Ph.D. Student, Amirkabir University of Technology, Tehran,Iran
Hassan Sayyaadi
Assistant Professor, Sharif University of Technology, Tehran,Iran
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