Dynamics of the Unicycle

Dynamics of the Unicycle
Author :
Publisher : Springer
Total Pages : 85
Release :
ISBN-10 : 9783319953847
ISBN-13 : 3319953842
Rating : 4/5 (47 Downloads)

Book Synopsis Dynamics of the Unicycle by : Michał Niełaczny

Download or read book Dynamics of the Unicycle written by Michał Niełaczny and published by Springer. This book was released on 2018-07-02 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don’t know that what they’re doing is, according to science, impossible – just like bumblebees theoretically shouldn’t be able to fly. This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion are solved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle–unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica. Lastly, experimental validation, 3D motion capture using software OptiTrack – Motive:Body and high-speed cameras are employed to test the model’s legitimacy. The description of the unicycle–unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.


Dynamics of the Unicycle Related Books

Dynamics of the Unicycle
Language: en
Pages: 85
Authors: Michał Niełaczny
Categories: Technology & Engineering
Type: BOOK - Published: 2018-07-02 - Publisher: Springer

DOWNLOAD EBOOK

This book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system.
Modern Robotics
Language: en
Pages: 545
Authors: Kevin M. Lynch
Categories: Computers
Type: BOOK - Published: 2017-05-25 - Publisher: Cambridge University Press

DOWNLOAD EBOOK

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Advances in Emerging Trends and Technologies
Language: en
Pages: 414
Authors: Miguel Botto-Tobar
Categories: Technology & Engineering
Type: BOOK - Published: 2019-10-19 - Publisher: Springer

DOWNLOAD EBOOK

This book constitutes the proceedings of the 1st International Conference on Advances in Emerging Trends and Technologies (ICAETT 2019), held in Quito, Ecuador,
Introduction to Mobile Robot Control
Language: en
Pages: 718
Authors: Spyros G Tzafestas
Categories: Technology & Engineering
Type: BOOK - Published: 2013-10-03 - Publisher: Elsevier

DOWNLOAD EBOOK

Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirect
Dynamics and Optimal Control of Road Vehicles
Language: en
Pages: 480
Authors: D. J. N. Limebeer
Categories: Technology & Engineering
Type: BOOK - Published: 2018-08-23 - Publisher: Oxford University Press

DOWNLOAD EBOOK

Dynamics and Optimal Control of Road Vehicles uniquely offers a unified treatment of tyre, car and motorcycle dynamics, and the application of nonlinear optimal