ecms_neu_mini.png

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.

Full text: