[ Special Issue : Seoul Tech Capstone Design ]

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 27, No. 3, pp.244-251

ISSN: 2508-5107 (Online)

Print publication date 15 Jun 2018

Received 03 Apr 2018 Revised 27 May 2018 Accepted 31 May 2018

DOI: https://doi.org/10.7735/ksmte.2018.27.3.244

볼봇 로봇시스템의 균형제어에 관한 연구

이지헌^a ; 박희재^a^{, *}

A Study on Balancing Control of Ballbot Robot Systems

Ji Heon Lee^a ; Hee Jae Park^a^{, *}

aDepartment of Mechanical System Design Engineering, Seoul National University of Science and Technology, 232, Gongneung-ro, Nowon-gu, Seoul 01811, Korea

Correspondence to: ^*Tel.: +82-2-970-6341, Fax: +82-2-974-8270, E-mail address: looki@seoultech.ac.kr (Hee Jae Park).

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.

Keywords:

Ballbot, Balancing control, State feedback control, Euler-Lagrange equation

Acknowledgments

이 연구는 서울과학기술대학교 교내연구비의 지원으로 수행되었습니다.

References

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