Kinematic Analysis and Control Algorithm for the Ballbot
The ballbot is a dynamically stable mobile robot designed to balance on a single ball, whose dynamic stability enables improved navigability in narrow, crowded, and dynamic environments. Through its single contact point with the ground, ballbot is omnidirectional and exceptionally agile, maneuverabl...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8654607/ |
| _version_ | 1819052419108044800 |
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| author | Chengtao Cai Jiaxin Lu Zuoyong Li |
| author_facet | Chengtao Cai Jiaxin Lu Zuoyong Li |
| author_sort | Chengtao Cai |
| collection | DOAJ |
| description | The ballbot is a dynamically stable mobile robot designed to balance on a single ball, whose dynamic stability enables improved navigability in narrow, crowded, and dynamic environments. Through its single contact point with the ground, ballbot is omnidirectional and exceptionally agile, maneuverable, and organic in motion compared to other ground vehicles. For dealing with the challenging and imperative issues about ballbot, such as balancing, yaw, position control algorithms as well as the mathematical kinematic model, a novel model employing the Lagrange Equation is derived and control algorithm based on the similar principle as the second-order inverted pendulum is proposed, which is used for tackling the balancing, yaw, and position control. A cascade fuzzy proportional derivative (PD) controller and another controller with proportional integral (PI) control and PD feedback are designed for position and speed, respectively. Yaw control is presented, including head-hold mode and head-free mode. Some experiments are carried out to validate the effectiveness of the mathematical model and control algorithm. |
| first_indexed | 2024-12-21T12:19:32Z |
| format | Article |
| id | doaj.art-972e0e0f64f547d1b3bdcc9c7294c9ea |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-21T12:19:32Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-972e0e0f64f547d1b3bdcc9c7294c9ea2022-12-21T19:04:21ZengIEEEIEEE Access2169-35362019-01-017383143832110.1109/ACCESS.2019.29022198654607Kinematic Analysis and Control Algorithm for the BallbotChengtao Cai0Jiaxin Lu1https://orcid.org/0000-0001-9835-6782Zuoyong Li2https://orcid.org/0000-0001-8755-9648College of Automation, Harbin Engineering University, Harbin, ChinaCollege of Automation, Harbin Engineering University, Harbin, ChinaFujian Provincial Key Laboratory of Information Processing and Intelligent Control, Minjiang University, Fuzhou, ChinaThe ballbot is a dynamically stable mobile robot designed to balance on a single ball, whose dynamic stability enables improved navigability in narrow, crowded, and dynamic environments. Through its single contact point with the ground, ballbot is omnidirectional and exceptionally agile, maneuverable, and organic in motion compared to other ground vehicles. For dealing with the challenging and imperative issues about ballbot, such as balancing, yaw, position control algorithms as well as the mathematical kinematic model, a novel model employing the Lagrange Equation is derived and control algorithm based on the similar principle as the second-order inverted pendulum is proposed, which is used for tackling the balancing, yaw, and position control. A cascade fuzzy proportional derivative (PD) controller and another controller with proportional integral (PI) control and PD feedback are designed for position and speed, respectively. Yaw control is presented, including head-hold mode and head-free mode. Some experiments are carried out to validate the effectiveness of the mathematical model and control algorithm.https://ieeexplore.ieee.org/document/8654607/BallbotLagrange equationcascade fuzzy control |
| spellingShingle | Chengtao Cai Jiaxin Lu Zuoyong Li Kinematic Analysis and Control Algorithm for the Ballbot IEEE Access Ballbot Lagrange equation cascade fuzzy control |
| title | Kinematic Analysis and Control Algorithm for the Ballbot |
| title_full | Kinematic Analysis and Control Algorithm for the Ballbot |
| title_fullStr | Kinematic Analysis and Control Algorithm for the Ballbot |
| title_full_unstemmed | Kinematic Analysis and Control Algorithm for the Ballbot |
| title_short | Kinematic Analysis and Control Algorithm for the Ballbot |
| title_sort | kinematic analysis and control algorithm for the ballbot |
| topic | Ballbot Lagrange equation cascade fuzzy control |
| url | https://ieeexplore.ieee.org/document/8654607/ |
| work_keys_str_mv | AT chengtaocai kinematicanalysisandcontrolalgorithmfortheballbot AT jiaxinlu kinematicanalysisandcontrolalgorithmfortheballbot AT zuoyongli kinematicanalysisandcontrolalgorithmfortheballbot |