Modeling and Experiments of a Coaxial Two Wheel Robot

The structure and mathematical modeling of a two wheel coaxial robot are studied. The system is made up of a mobile mechanism, sensor for posture observation and the controller. The right and left wheels are driven separately by two DC servo motors. Gyroscope and angle sensors are used for posture observation. On the basis of building up the system structure model, kinetic equation is built up using the Lagrange's method. With the linear system theory, state-feed back controller is designed on Matlab, and the stability of system is proved by simulation results. Validity and rationality of the system modeling and the designed controller are verified through the performance experiments of the prototype.