Design and Control of a Ball-balancing Robot

D. Nguyen, T. B. Cao, Trường Hưng Phạm, N. Vo, P. V. Dang, Hoai Nam Le
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引用次数: 1

Abstract

The purpose of this paper is to present the design, prototype and control of a ball balancing robot. This robot has hexagonal prism body actuated by three DC motors with omni-wheels. Using a state space model obtained by linearizing the equations of motion derived by Lagrangian method, a Linear Quadratic Gaussian controller is designed to stabilize and drive the robot. The performance of the proposed control method is illustrated through simulation and its deployment on the real prototype.
球平衡机器人的设计与控制
本文的目的是介绍一个球平衡机器人的设计、原型和控制。该机器人具有六边形棱柱体,由三个带全轮的直流电机驱动。利用拉格朗日法导出的运动方程线性化得到的状态空间模型,设计了线性二次高斯控制器来实现机器人的稳定和驱动。通过仿真和在实际样机上的部署,说明了所提控制方法的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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