Lagrangian-Taylor differential transformation dynamics analysis of self-balancing inverted pendulum robot

Michael C. Agarana; Esther T. Akinlabi; Olasunmbo O. Agboola

doi:10.21833/ijaas.2019.09.008

Lagrangian-Taylor differential transformation dynamics analysis of self-balancing inverted pendulum robot

Michael C. Agarana, Esther T. Akinlabi, Olasunmbo O. Agboola

Mechanical Engineering Science

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

Robots are fast becoming a fixture in our lives. Kinematics and dynamics of self-balancing inverted pendulum robot modelled as an inverted are derived in this paper using Lagrange energy method. The derived equation of motion of the inverted pendulum robot was analyzed via Taylor differential transformation. Maple Computer software was used for the plotting of graphs for the result obtained. The results show that the position and motion of the inverted pendulum robot have a significant effect on achieving its self-balance.

Original language	English
Pages (from-to)	54-57
Number of pages	4
Journal	International Journal of Advanced and Applied Sciences
Volume	6
Issue number	9
DOIs	https://doi.org/10.21833/ijaas.2019.09.008
Publication status	Published - Sept 2019

Keywords

Inverted pendulum
Lagrangian
Robot
Taylor differential transformation

ASJC Scopus subject areas

Multidisciplinary

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10.21833/ijaas.2019.09.008

Cite this

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title = "Lagrangian-Taylor differential transformation dynamics analysis of self-balancing inverted pendulum robot",

abstract = "Robots are fast becoming a fixture in our lives. Kinematics and dynamics of self-balancing inverted pendulum robot modelled as an inverted are derived in this paper using Lagrange energy method. The derived equation of motion of the inverted pendulum robot was analyzed via Taylor differential transformation. Maple Computer software was used for the plotting of graphs for the result obtained. The results show that the position and motion of the inverted pendulum robot have a significant effect on achieving its self-balance.",

keywords = "Inverted pendulum, Lagrangian, Robot, Taylor differential transformation",

author = "Agarana, {Michael C.} and Akinlabi, {Esther T.} and Agboola, {Olasunmbo O.}",

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year = "2019",

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AU - Akinlabi, Esther T.

AU - Agboola, Olasunmbo O.

PY - 2019/9

Y1 - 2019/9

N2 - Robots are fast becoming a fixture in our lives. Kinematics and dynamics of self-balancing inverted pendulum robot modelled as an inverted are derived in this paper using Lagrange energy method. The derived equation of motion of the inverted pendulum robot was analyzed via Taylor differential transformation. Maple Computer software was used for the plotting of graphs for the result obtained. The results show that the position and motion of the inverted pendulum robot have a significant effect on achieving its self-balance.

AB - Robots are fast becoming a fixture in our lives. Kinematics and dynamics of self-balancing inverted pendulum robot modelled as an inverted are derived in this paper using Lagrange energy method. The derived equation of motion of the inverted pendulum robot was analyzed via Taylor differential transformation. Maple Computer software was used for the plotting of graphs for the result obtained. The results show that the position and motion of the inverted pendulum robot have a significant effect on achieving its self-balance.

KW - Inverted pendulum

KW - Lagrangian

KW - Robot

KW - Taylor differential transformation

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Lagrangian-Taylor differential transformation dynamics analysis of self-balancing inverted pendulum robot

Abstract

Keywords

ASJC Scopus subject areas

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