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ICRA
2009
IEEE

Trajectory planning and control of an underactuated dynamically stable single spherical wheeled mobile robot

10 years 5 months ago
Trajectory planning and control of an underactuated dynamically stable single spherical wheeled mobile robot
— The ballbot is a dynamically stable mobile robot that moves on a single spherical wheel and is capable of omnidirectional movement. The ballbot is an underactuated system with nonholonomic dynamic constraints. The authors propose an offline trajectory planning algorithm that provides a class of parametric trajectories to the unactuated joint in order to reach desired static configurations of the system with regard to the dynamic constraint. The parameters of the trajectories are obtained using optimization techniques. A feedback controller is proposed that ensures accurate trajectory tracking. The trajectory planning algorithm and tracking controller are validated experimentally. The authors also extend the offline trajectory planning algorithm to a generalized case of motion between non-static configurations.
Umashankar Nagarajan, George Kantor, Ralph L. Holl
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Umashankar Nagarajan, George Kantor, Ralph L. Hollis
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