메카넘 휠을 이용한 볼-봇의 슬립률 감소와 균형 및 주행제어
Slip Ratio Reduction and Moving Balance Control of a Ball-bot using Mecanum Wheel
1
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.
Abstract
This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.
참고문헌 (15)
- T. B. Lauwers, "A dynamical stable single-wheeled mobile robot with inverse mouse-ball drive", Proc. of the IEEE International Conference on Robotics and Automation, pp.2884~2889 (2006)
- R. Hollis, "Ballbots", Scientific American Magazin, pp.72~77 (2006)
- J. C. Lo, "Decoupled fuzzy sliding-mode control", IEEE Transactions on Fuzzy Systems, 6(3), pp.426~435 (1998)
- C. M. Lin, "Decoupling control by hierarchical fuzzy sliding-mode controller", IEEE Transactions on Control Systems Technology, 13(4), pp.593~598 (2005)
- W. Wang, "Structure design of two types of sliding-mode controllers for a class of underactuated mechanical systems", IET Proceeding of Control Theory and Applications, 1(1), pp.163~172 (2007)
- 이승준, "이륜 구동 로봇의 균형 각도 조절을 통한 사람과의 상호 제어의 실험적 연구", 로봇학회 논문지, 8(2), pp.67~74 (2013), 한국로봇학회[DOI]
- 김순철, "롤러형 바퀴를 갖는 이동로봇 개발", 로봇학회 논문지, 9(4), pp.250~257 (2014), 한국로봇학회[DOI]
- C.-H. Huang, "Design and implementation of fuzzy control on a two-wheel inverted pendulum", IEEE Trans. Ind. Informat., 58(7), pp.337~345 (2011)
- 이장명, "외바퀴 로봇 다이나믹 모델과 성능 개선", 제어.로봇.시스템학회 논문지, 16(11), pp.1074~1081 (2010), 제어·로봇·시스템학회
- Dickerson, S. L., "Control of an omni-directional robotic vehicle with Mecanum wheels", IEEE Trans. Syst., Telesystems Conference, 1, pp.323~328 (1991)
- K. J. Astrom, "Automatic Tuning of PID Controllers" (1988), Instrument society of America
- Y. Yamamoto, "NXT ballbot model-based design-control of a self-balancing robot on a ball, built with LEGO Mindstorms NXT", ~ (2009)
- U. Nagarajan, "State transition, balancing, station keeping, and yaw control for a dynamically stable single spherical wheel mobile robot", Proc. IEEE Int. Conf. Robot. and Autom., pp.998~1003 (2009)
- U. Nagarajan, "Trajectory planning and control of an underactuated dynamically stable single spherical wheeled mobile robot", Proc. IEEE Int. Conf. Robot. and Autom., pp.3743~3748 (2009)
- J. -H. Lee, "Re-analysis of lyapunov stability of PI(D)controllers for regulation of second order servo systems", 13th KACC (1998)