球平衡机器人的设计与控制

2018 4th International Conference on Green Technology and Sustainable Development (GTSD) Pub Date : 2018-11-01 DOI:10.1109/GTSD.2018.8595602

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

摘要

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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Design and Control of a Ball-balancing Robot

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.

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2018 4th International Conference on Green Technology and Sustainable Development (GTSD)

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