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- W4214920072 abstract "Article explores the possibility of maintaining the equilibrium stability of the ball balancing robot (also known as a BallBot) with forced and free movement. This type of robots is initially unstable; therefore, it is necessary to create a control system that provides resistance to external influences. That requires to include into the analysis parameters of load's moment of inertia and rotational torque of the sphere base. A mathematical model of the sphere-based robot system was developed based on the augmented model of the inverse pendulum. A linear state controller with an internal model of free movement of the object has been obtained. Verification of the developed control system is performed using simulation in MATLAB / Simulink. The initial results of the study, including balancing in place and moving along the trajectory, are presented." @default.
- W4214920072 created "2022-03-05" @default.
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- W4214920072 date "2022-01-26" @default.
- W4214920072 modified "2023-09-23" @default.
- W4214920072 title "Dynamic Stability Analysis of Robots on Spherical Base with Variable Load Mass" @default.
- W4214920072 doi "https://doi.org/10.1109/iwed54598.2022.9722600" @default.
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