Dynamics Modeling of a Cubical Robot Balancing on Its Corner

CHEN Zhigang; RUAN Xiaogang; LI Yuan

doi:10.11936/bjutxb2018030003

Journal of Beijing University of Technology > 2019 > 45(7): 638-645. > DOI: 10.11936/bjutxb2018030003

CHEN Zhigang, RUAN Xiaogang, LI Yuan. Dynamics Modeling of a Cubical Robot Balancing on Its Corner[J]. Journal of Beijing University of Technology, 2019, 45(7): 638-645. DOI: 10.11936/bjutxb2018030003

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Dynamics Modeling of a Cubical Robot Balancing on Its Corner

CHEN Zhigang^{1, 2,},
RUAN Xiaogang^{1, 2},
LI Yuan^{1, 2}

1.
Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China
2.
Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing 100124, China

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Received Date: February 28, 2018
Available Online: August 03, 2022
Published Date: July 09, 2019

Graphical Abstract

Abstract

Abstract

Aiming at the balancing control problem of a cubical robot, a system balancing on its corner was modeled by taking the physical prototype as research object, and least system variables were defined for expressing system movement attributes. The energy function and generalized forces of the system were calculated, and the dynamic model of the cubical robot balancing on its corner was derived based on Lagrange method. The correctness of the model was analyzed in theory by numerical simulation, and the model precision was verified with basically indetical response results about zero-input experiment in comparision betweeen the model and virtual prototype. A balancing controller designed based on the dynamic model was applied in balancing control of the virtual prototype. The experiment results show that the cubical robot can balance effectively by the controller, then the effectiveness of the model is verified further. The dynamic model provides an important foundation for the further research on balancing control of the cubical robot.
- self-balancing robot,
- dynamics modeling,
- Lagrange method,
- balance control,
- virtual prototype,
- simulabion analysis

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References (21)

References

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Dynamics Modeling of a Cubical Robot Balancing on Its Corner