Volume 6, Issue 9 (September 2019), Pages: 54-57

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 Original Research Paper

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

 Author(s): Michael C. Agarana ^{1, 2,} *, Esther T. Akinlabi ¹, Olasunmbo O. Agboola ²

 Affiliation(s):

 ¹Department of Mechanical Engineering Science, University of Johannesburg, Johannesburg, South Africa
 ²Department of Mathematics, Covenant University, Ota, Nigeria

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 * Corresponding Author. 

  Corresponding author's ORCID profile: https://orcid.org/0000-0003-2100-8282

 Digital Object Identifier: 

 https://doi.org/10.21833/ijaas.2019.09.008

 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. 

 © 2019 The Authors. Published by IASE.

 This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

 Keywords: Lagrangian, Taylor differential transformation, Inverted pendulum, Robot

 Article History: Received 7 July 2018, Received in revised form 5 July 2019, Accepted 6 July 2019

 Acknowledgement:

No Acknowledgement.

 Compliance with ethical standards

 Conflict of interest:  The authors declare that they have no conflict of interest.

 Citation:

 Agarana MC, Akinlabi ET, and Agboola OO (2019). Lagrangian-Taylor differential transformation dynamics analysis of self-balancing inverted pendulum robot. International Journal of Advanced and Applied Sciences, 6(9): 54-57

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 Figures

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 Tables

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 References (8) 

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