Knowledge base: Warsaw University of Technology

Settings and your account

Back

Control development for a bicycle robot taking into account slip phenomenon

Nadezda Rukavishnikova

Abstract

This work is dedicated to development of balancing and slip reduction control strategy for bicycle robot in order to avoid both lateral and longitudinal slip. Bicycle robot is modelled by two concurrent submodels, lateral and longitudinal, assuming that they do not influence each other. This work adapts the slip reduction approach, designed by Teresa Zielinska at Warsaw University of Technology, to bicycle robot and continues the research on bicycle robot balancing, performed by Professor Toshiyuki Mirakami at Keio University, Japan.
Record ID
WUTda3f38e4543543da820a188c4c2fcd7d
Diploma type
Master of Science
Author
Nadezda Rukavishnikova (FPAE) Nadezda Rukavishnikova,, Faculty of Power and Aeronautical Engineering (FPAE)
Title in Polish
Opracowanie metod sterowania autonomicznym robotem typu rower z uwzględnieniem zjawiska poślizgu
Supervisor
Dimiter Zlatanov Dimiter Zlatanov,, Undefined Affiliation
Certifying unit
Faculty of Power and Aeronautical Engineering (FPAE)
Affiliation unit
The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)
Language
(en) English
Status
Finished
Defense Date
25-09-2012
Issue date (year)
2012
Pages
76
Internal identifier
MEL; PD-1960
Reviewers
Dimiter Zlatanov Dimiter Zlatanov,, Undefined Affiliation Teresa Zielińska (FPAE/IAAM) Teresa Zielińska,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE) Toshiyuki Murakami Toshiyuki Murakami,, Undefined Affiliation
Keywords in Polish
roboty mobilne
Keywords in English
control algorithms, mobile robotics, robot control, slip control, motion
Abstract in Polish
W niniejszej pracy zbadano strategie sterowania dla zadan balansowania i redukcji poslizgu dwukołowego robota (robot rower). Celem było unikniecie zarówno poprzecznego i podłuznego poslizgu. Model ruchu robota uwglednia odziaływania poprzeczne i wzdłuzne. Do celów sterowania załozono ze te oddzialywania sa odseparowane. Metoda redukcji poslizgu była pierwotnie zaprojektowana przez Teresa Zielinska na Politechnice Warszawskiej. W tej pracy metoda zostala zaadaptowana do dwukołowego robota o strukturze roweru. Wykonane prace nawiazuja do badan nad rownowazeniem postury robota typu rower prowadzonych przez profesora Toshiyuki Mirakami z Uniwersytetu Keio w Japonii.
File
  • File: 1
    Rukavishnikova_thesis_fin.pdf
Request a WCAG compliant version

Uniform Resource Identifier
https://repo.pw.edu.pl/info/master/WUTda3f38e4543543da820a188c4c2fcd7d/
URN
urn:pw-repo:WUTda3f38e4543543da820a188c4c2fcd7d

Confirmation
Are you sure?
Report incorrect data on this page