Citation: | ZHAO Jian-wei, RUAN Xiao-gang. Modeling and Control of a Flexible Two-wheel Upright Self-balance Humanoid Robot[J]. ROBOT, 2009, 31(2): 179-186. |
[1] |
Low K H,Vidyasagar M.Lagrangian formulation of the dynamic model for flexible manipulator systems[J].Journal of Dynamic Systems,Measurement and Control,1988,110(2):175~181.
|
[2] |
Kane T R,Ryan R R,Banerjee A K.Dynamics of a cantilever beam attached to a moving base[J].Journal of Guidance,Control,and Dynamics,1987,10(2):139~151.
|
[3] |
陈炜,余跃庆,张绪平,等.欠驱动柔性机器人的动力学建模与耦合特性[J].机械工程学报,2006,42(6):16~23.Chen Wei,Yu Yue-qing,Zhang Xu-ping,et al.Dynamic modeling and coupling of underactuated flexible robot[J].Chinese Journal of Mechanical Engineering,2006,42(6):16~23.
|
[4] |
陈炜,余跃庆,张绪平,等.欠驱动柔性机器人动力学建模及仿真[J].中国机械工程,2006,17(9):931~936.Chen Wei,Yu Yue-qing,Zhang Xu-ping,et al.Dynamic modeling and simulation of underactuated flexible robot[J].China Mechanical Engineering,2006,17(9):931~936.
|
[5] |
Basher H A.Modeling and simulation of flexible robot manipulator with a prismatic joint[A].Proceedings of the IEEE Southeast Conference 2007[C].Piscataway,NJ,USA:IEEE,2007.255~260.
|
[6] |
Loudini M,Boukhetala D,Tadjine M.Comprehensive mathematical modelling of a transversely vibrating flexible link robot manipulator carrying a tip payload[J].International Journal of Applied Mechanics and Engineering,2007,12(1):67~83.
|
[7] |
Kalyoncu M.Mathematical modelling and dynamic.response of a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint[J].Applied Mathematical Modeling,2008,32(6):1087~1098.
|
[8] |
邹建奇,苏欣,张京军.柔性机械臂动力学分布参数模型的建立及其离散化[J].吉林大学学报:理学版,Zou Jian-qi,Su Xin,Zhang Jing-jun.Dynamic equation of distributed-parameter of a flexible robotic arm and its discreteness[J].Journal of Jilin University (Science Edition),2007,45(3):353~357.
|
[9] |
管贻生,安永辰.机器人手臂弹性动力学分析的Kane方法[J].机器人,1992,14(1):45~51.Guan yi-sheng,An yong-chen.A new method of dynamics of flexible robot manipulators based on Kane's method and model analysis[J].Robot,1992,14(1):45~51.
|
[10] |
孙立宁,王洪福,曲东升.柔性臂动力学建模及比较研究[J].压电与声光,2003,25(6):525~529.Sun Li-ning,Wang Hong-fu,Qu Dong-sheng.Dynamic modeling of flexible manipulator and comparative study[J].Piezoelectrics and Acoustooptics,2003,25(6):525~529.
|
[11] |
Salerno A,Angeles J.On the nonlinear controllability of a quasiholonomic mobile robot[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,2003.3379~3384.
|
[12] |
Grasser F,D'Arrigo A,Colombi S,et al.JOE:A mobile,inverted pendulum[J].IEEE Transactions on Industrial Electronics,2002,49(1):107~114.
|