Analysis of the parametric configuration impact on BallBot control performance  

作　　者：Anh-Duc Pham Ba Hoa Thai Phuoc Vinh Dang Nhu Thanh Vo 

机构地区：[1]Faculty of Mechanical Engineering,The University of Danang–University of Science and Technology,Danang,Vietnam

出　　处：《International Journal of Mechanical System Dynamics》2024年第4期446-460,共15页国际机械系统动力学学报(英文)

摘　　要：The BallBot,a versatile robot system,finds applications in various domains of life.It comprises a frame moved by three wheels mounted on a ball.The robot performance is significantly influenced by its parametric configuration,including body mass,chassis size,and ball diameter.This study examines the impact of these configuration parameters on the control of the BallBot.The mathematical model of the BallBot is discussed,considering the assumptions and coordinate systems.To control the robot,a Linear Quadratic Regulator controller is designed.Subsequently,the simulation model is used to assess the effects of changing the initial parametric configuration.It is observed that altering the robot mass has a notable impact on the BallBot response,while changes in the ball diameter have a relatively insignificant effect.

关 键 词：BallBot LQR BallBot's control performance structural configuration 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]