Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots
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School of Electrical Engineering |
A4 Artikkeli konferenssijulkaisussa
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Date
2014
Major/Subject
Mcode
Degree programme
Language
en
Pages
10
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Abstract
Dynamic models describing the ball-robot motion form the basis for developments in ball-robot mechanics and motion control systems. For this paper, we have conducted a literature review of decoupled forward-motion models for pendulum-driven ball-shaped robots. The existing models in the literature apply several different conventions in system definition and parameter notation. Even if describing the same mechanical system, the diversity in conventions leads into dynamic models with different forms. As a result, it is difficult to compare, reproduce and apply the models available in the literature. Based on the literature review, we reformulate all common variations of decoupled dynamic forward-motion models using a unified notation and formulation. We have verified all reformulated models through simulations, and present the simulation results for a selected model. In addition, we demonstrate the different system behavior resulting from different ways to apply the pendulum reaction torque, a variation that can be found in the literature. For anyone working with the ball-robots, the unified compilation of the reformulated dynamic models provides an easy access to the models, as well as to the related work.Description
Keywords
ballshaped robots, robot dynamics, Euler-Lagrange equation, multi-body simulation
Other note
Citation
Ylikorpi, Tomi & Forsman, Pekka & Halme, Aarne & Saarinen, Jari. 2014. Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots. Proceedings of the 28th European Conference on Modelling and Simulation. ISBN 978-0-9564944-9-8 (electronic). ISBN 978-0-9564944-8-1 (printed). DOI: 10.7148/2014-0411.
