Abstract
Aiming at the problem of self-balancing control of a cubical robot, this paper makes a research on the dynamic modeling of the cubical robot balancing on its corner. Using the prototype of cubical robot we built as the research object, the dynamic model is derived with Lagrangian method on foundation of analysis of coordinate transformation relation of cubical robot. The correctness of the model is verified in theory by numerical simulation. The controller, designed based on reaction torque characteristic of inertia wheels, is used in balance control of the cubical robot. The effectiveness of the controller is verified again with the obtained expect effect. The dynamic model developed and controller can provide a base for further study of balance control of a cubical robot.
Highlights
The cubical robot is a robot device that shaped like a cube and driven by internal moment generator
In 2012, a cubical robot that actuated by reaction wheels mounted on three faces of the cube was proposed by Gajamohan et al7-8
In [7], [8] the dynamic model of the cubical robot both balancing on its edge and balancing on its corner was derived respectively, and the parameters of nonlinear systems were identified using frequency domain based approach while the cubical robot balancing on its edge with a nominal controller, the corner balancing using a linear feedback controller was presented
Summary
The cubical robot is a robot device that shaped like a cube and driven by internal moment generator. In [5] researched on the cubical robot system that has an internal active pendulum installed, and a balancing controller was designed by means of fuzzy control method in 2006. Based on this system, a nonlinear reduced order state observer was designed in [6]. In [9], [10], dynamic model of the cubical robot balancing on its edge and balancing on its corner was derived respectively using concept of generalized momenta, and a backstepping based controller was derived for balancing.
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