Single wheel robot: gyroscopical stabilization on ground and on incline.

• Other Authors: Sun, Loi-Wah.
• Format: Others
• Language: English; Chinese
• Published: 2000
• Subjects: Robots > Dynamics; Robots > Control systems
• Online Access: http://library.cuhk.edu.hk/record=b5890272; http://repository.lib.cuhk.edu.hk/en/item/cuhk-323256

by Loi-Wah Sun. === Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. === Includes bibliographical references (leaves 77-81). === Abstracts in English and Chinese. === Abstract --- p.i === Acknowledgments --- p.iii === Contents --- p.v === List of Figures --- p.vii === List of Tables --- p.viii === Chapter 1 --- Introduction --- p.1 === Chapter 1.1 --- Motivation --- p.1 === Chapter 1.1.1 --- Literature review --- p.2 === Chapter 1.1.2 --- Gyroscopic precession --- p.5 === Chapter 1.2 --- Thesis overview --- p.7 === Chapter 2 --- Dynamics of the robot on ground --- p.9 === Chapter 2.1 --- System model re-derivation --- p.10 === Chapter 2.1.1 --- Linearized model --- p.15 === Chapter 2.2 --- A state feedback control --- p.16 === Chapter 2.3 --- Dynamic characteristics of the system --- p.18 === Chapter 2.4 --- Simulation study --- p.19 === Chapter 2.4.1 --- The self-stabilizing dynamics effect of the single wheel robot --- p.21 === Chapter 2.4.2 --- The Tilting effect of flywheel on the robot --- p.23 === Chapter 2.5 --- Dynamic parameters analysis --- p.25 === Chapter 2.5.1 --- Swinging pendulum --- p.25 === Chapter 2.5.2 --- Analysis of radius ratios --- p.27 === Chapter 2.5.3 --- Analysis of mass ratios --- p.30 === Chapter 3 --- Dynamics of the robot on incline --- p.33 === Chapter 3.1 --- Modeling of rolling disk on incline --- p.33 === Chapter 3.1.1 --- Disk rolls up on an inclined plane --- p.37 === Chapter 3.2 --- Modeling of single wheel robot on incline --- p.39 === Chapter 3.2.1 --- Kinematic constraints --- p.40 === Chapter 3.2.2 --- Equations of motion --- p.41 === Chapter 3.2.3 --- Model simplification --- p.43 === Chapter 3.2.4 --- Linearized model --- p.46 === Chapter 4 --- Control of the robot on incline --- p.47 === Chapter 4.1 --- A state feedback control --- p.47 === Chapter 4.1.1 --- Simulation study --- p.49 === Chapter 4.2 --- Backstepping-based control --- p.51 === Chapter 4.2.1 --- Simulation study --- p.53 === Chapter 4.2.2 --- The effect of the spinning rate of flywheel --- p.56 === Chapter 4.2.3 --- Simulation study --- p.58 === Chapter 4.2.4 --- Roll up case --- p.58 === Chapter 4.2.5 --- Roll down case --- p.58 === Chapter 5 --- Motion planning --- p.61 === Chapter 5.1 --- Performance index --- p.61 === Chapter 5.2 --- Condition of rolling up --- p.62 === Chapter 5.3 --- Motion planning of rolling Up --- p.65 === Chapter 5.3.1 --- Method I : Orientation change --- p.65 === Chapter 5.3.2 --- Method II : Change the initial velocities --- p.69 === Chapter 5.4 --- Wheel rolls Down --- p.70 === Chapter 5.4.1 --- Terminal velocity of rolling body down --- p.73 === Chapter 6 --- Summary --- p.75 === Chapter 6.1 --- Contributions --- p.75 === Chapter 6.2 --- Future Works --- p.76 === Bibliography --- p.78