Dynamics Modeling and Motion Simulation of a Segway Robotic Transportation System

Simulation is an essential interactive computer tool that can be applied to monitor systems graphically. A simulation of motion is presented in this study to support the control of Segway Robot Transportation Platform (SRTP). The introduced system provides simulation of the SRTP using MATLAB. The nonlinear dynamic equations of the motion for the Segway system are determined using the Lagrange approach. The derived nonlinear equations are then arranged in state space model format. The SRTP is simulated using the derived state space model using MATLAB. The introduced modeling and simulation processes have shown their ability to produce and plot the motion of the Segway parts with monitoring the effect of the Segway physical parameters such as mass of cart.