Non-holonomic constraints impose restrictions on
the allowable velocities or motions of the system. These con
straints may arise from physical interactions or mechanical
limitations. Stabilizing constraints in a non-holonomic multi
body system often involves employing numerical methods due
to the complexity of the constraints and the dynamic nature
of the system. Moreover, for self-balancing robots, driving
constraints may be introduced to the system in the velocity
level, and proper management of these constraints is crucial
in the design and analysis of mechanisms, vehicles, robotics,
and other complex systems. In this paper, we present an
approach for stabilizing the driving velocity constraints, along
with other holonomic and non-holonomic constraints, of a self
balanced robot. The proposed approach is intended for use in
the numerical integration process of the Differential Algebraic
Equations of multibody system dynamics, and not for real-time
control. Successful numerical integration enables the calculation
of driving forces in an open-loop manner. The paper proves
that fuzzy logic control can be utilized effectively for driving
constraints stabilization at the velocity level. |
