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Digital Library of the
European Council for Modelling and Simulation |
Title: |
Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven
Ball-Shaped Robots |
Authors: |
Tomi Ylikorpi, Pekka Forsman, Aarne Halme, Jari Saarinen |
Published in: |
(2014).ECMS 2014 Proceedings edited
by: Flaminio Squazzoni,
Fabio Baronio, Claudia Archetti,
Marco Castellani European Council for
Modeling and Simulation. doi:10.7148/2014 ISBN:
978-0-9564944-8-1 28th
European Conference on Modelling and Simulation, Brescia,
Italy, May 27th – 30th,
2014 |
Citation
format: |
Tomi Ylikorpi, Pekka Forsman, Aarne Halme, Jari Saarinen (2014). Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots, ECMS 2014 Proceedings
edited by: Flaminio Squazzoni,
Fabio Baronio, Claudia Archetti,
Marco Castellani European Council for Modeling and Simulation. doi:10.7148/2014-0411 |
DOI: |
http://dx.doi.org/10.7148/2014-0411 |
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 forwardmotion 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. |
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