Design, Implementation, and Control of a Ball-Balancing Robot

被引：0
|
作者：
Park, Sangsin [1 ]
机构：
[1] Korea Natl Univ Transportat, Dept Mech Engn, Chungju Si 27469, South Korea
来源：
IEEE ACCESS | 2024年 / 12卷
关键词：
Gears; Robots; Robot sensing systems; Mobile robots; Motors; Batteries; Wheels; Ball-balancing robot; customized stepped planetary gear; compensator;
D O I：
10.1109/ACCESS.2024.3456238
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the design, implementation, and control of a ball-balancing robot developed for interactive applications in service and entertainment environments. The robot features a unique thin and narrow body design to facilitate future functional expansions and a customized stepped planetary gear for the actuators, improving torque and precision. A compensator incorporating an observer and full-state feedback is developed and experimentally validated, ensuring accurate and stable control of the robot. Future work will focus on enhancing the stability and control mechanisms to improve the robot's performance in various applications.
引用
收藏
页码：127380 / 127389
页数：10
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