Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Balancing and Driving Control of a Mecanum Wheel Ball Robot

메카넘 바퀴 볼 로봇의 자세제어 및 주행

  • Hwang, Seung-Ik (Department of Electrical Engineering, Pusan National University) ;
  • Ha, Hwi-Myung (Department of Electrical Engineering, Pusan National University) ;
  • Lee, Jang-Myung (Department of Electrical Engineering, Pusan National University)
  • 황승익 (부산대학교 전자전기컴퓨터공학과) ;
  • 하휘명 (부산대학교 전자전기컴퓨터공학과) ;
  • 이장명 (부산대학교 전자전기컴퓨터공학과)
  • Received : 2014.12.01
  • Accepted : 2015.01.23
  • Published : 2015.04.01
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Abstract

This paper proposes a balancing and driving control system for a Mecanum wheel ball robot which has a two axis structure and four motors. The inverted pendulum control method is adopted to maintain the balance of the ball robot while it is driving. For the balancing control, an anon-model-based controller has been designed to control the device simply without the need of a 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. For the driving control, the PID control algorithm has been adopted with angles of the wheels and the encoder data. The performance of the designed control system has been verified through the real experiments with the suggested ball robot.

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