NDLI: Dynamic analysis and control synthesis of a spherical wheeled robot (Ballbot)

Content Provider	IEEE Xplore Digital Library
Author	Lotfiani, A. Keshmiri, M. Danesh, M.
Copyright Year	2013
Description	Author affiliation: Dept. of Mech. Eng., Isfahan Univ. of Technol., Isfahan, Iran (Lotfiani, A.; Keshmiri, M.; Danesh, M.)
Abstract	Ballbot is a mobile robot consists of a body mounting on a spherical wheel. The spherical wheel can make the robot move in any directions. This robot is an unstable underactuated system with nonholonomic velocity constraints. In this paper, first, a 3D dynamic model of the robot is derived while taking the nonholonomic constraints into considerations. Since Ballbot is an underactuated system, finding a normal form for the equations could be helpful in the control point of view. Therefore, the equations of motion are examined to find whether there is a simple normal form or not. To enforce the robot to track any given trajectory on the ground, an online fuzzy logic trajectory planning is suggested. A computed torque method and a sliding mode controller are used along the fuzzy trajectory planning to perform the tracking goal. To consider uncertainties and disturbances, some simulations are performed. The results show that the sliding mode controller demonstrate much better performance compared to the computed torque controller. When there is no uncertainty, the computed torque method is candidate showing less tracking error than the sliding controller.
Starting Page	481
Ending Page	486
File Size	1684555
Page Count	6
File Format	PDF
ISBN	9781467358095
e-ISBN	9781467358118
DOI	10.1109/ICRoM.2013.6510154
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-02-13
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheeled inverted pendulum Bismuth Moving mobile Ballbot Niobium Robots Nonholonomic systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Dynamic Modeling and Analysis of a Two-Wheeled Inverted Pendulum Robot

Mechanical Design and Dynamic Modeling of a Two-Wheeled Inverted Pendulum Mobile Robot

Development of a Two-Wheeled Inverted Pendulum Mobile Robot

Modeling of wheeled inverted pendulum systems

Dynamic modeling of a two-wheeled inverted pendulum balancing mobile robot

Dynamic Analysis of a Nonholonomic Two-Wheeled Inverted Pendulum Robot

Multimode discrete control for Wheeled Mobile Robots

Sensor drift compensation and control of a wheeled inverted pendulum mobile robot

Position control of mobile two wheeled inverted pendulum robot by sliding mode control

Dynamic analysis and control synthesis of a spherical wheeled robot (Ballbot)

Similar Documents

Dynamic Modeling and Analysis of a Two-Wheeled Inverted Pendulum Robot

Mechanical Design and Dynamic Modeling of a Two-Wheeled Inverted Pendulum Mobile Robot

Development of a Two-Wheeled Inverted Pendulum Mobile Robot

Modeling of wheeled inverted pendulum systems

Dynamic modeling of a two-wheeled inverted pendulum balancing mobile robot

Dynamic Analysis of a Nonholonomic Two-Wheeled Inverted Pendulum Robot

Multimode discrete control for Wheeled Mobile Robots

Sensor drift compensation and control of a wheeled inverted pendulum mobile robot

Position control of mobile two wheeled inverted pendulum robot by sliding mode control

Dynamic analysis and control synthesis of a spherical wheeled robot (Ballbot)