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Balancing Control of a Ball Robot Based on an Inverted Pendulum

역진자 기반 공 로봇의 균형제어

  • Kang, Seok-Won (Department of Interdisciplinary Program in Robotics, Pusan National University) ;
  • Park, Chan-Ik (Department of Interdisciplinary Program in Robotics, Pusan National University) ;
  • Byun, Gyu-Ho (Department of Interdisciplinary Program in Robotics, Pusan National University) ;
  • Lee, Jang-Myung (School of Electronic Engineering, Pusan National University)
  • 강석원 (부산대학교 로봇관련협동과정) ;
  • 박찬익 (부산대학교 로봇관련협동과정) ;
  • 변규호 (부산대학교 로봇관련협동과정) ;
  • 이장명 (부산대학교 전자전기공학부)
  • Received : 2013.03.29
  • Accepted : 2013.05.30
  • Published : 2013.09.01

Abstract

This paper proposes a new ball robot which has a four axis structure and four motors that directly actuate the ball to move or to maintain the balance of the robot. For the Balancing control, it is possible to use non-model-based controller to control simply without complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed ball robot.

Acknowledgement

Supported by : 정보통신산업진흥원

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  2. Balancing and Driving Control of a Mecanum Wheel Ball Robot vol.21, pp.4, 2015, https://doi.org/10.5302/J.ICROS.2015.14.0127