Abstract
This paper presents the balancing control design of the ballbot robot system. Unlike statically stable robots, the ballbot is dynamically stable and more agile and has smaller footprint. These features make it better suited to navigate and cooperate with humans in unorganized environments. In this study, a ballbot- style robot is designed to realize the autonomous mobile robot. To design the balancing control of the robot, a dynamic model of the robot is derived using Euler-Lagrange equations. The robot model obtained is linearized to apply the LQR (Linear Quadratic Regulator) control method, and a series of simulations and experiments is conducted to investigate the proposed control design. The experimental results show that proposed controller is suitable for the ballbot control system regardless of unknown modeling errors and disturbances.
| Translated title of the contribution | A Study on Balancing Control of Ballbot Robot Systems |
|---|---|
| Original language | Korean |
| Pages (from-to) | 244-251 |
| Number of pages | 8 |
| Journal | 한국생산제조학회지 |
| Volume | 27 |
| DOIs | |
| State | Published - Apr 2018 |