DTIC ADA462904: Modeling Dynamics And Exploring Control Of A Single-Wheeled Dynamically Stable Mobile Robot With Arms - Info and Reading Options
By Defense Technical Information Center
"DTIC ADA462904: Modeling Dynamics And Exploring Control Of A Single-Wheeled Dynamically Stable Mobile Robot With Arms" and the language of the book is English.
“DTIC ADA462904: Modeling Dynamics And Exploring Control Of A Single-Wheeled Dynamically Stable Mobile Robot With Arms” Metadata:
- Title: ➤ DTIC ADA462904: Modeling Dynamics And Exploring Control Of A Single-Wheeled Dynamically Stable Mobile Robot With Arms
- Author: ➤ Defense Technical Information Center
- Language: English
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- Internet Archive ID: DTIC_ADA462904
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"DTIC ADA462904: Modeling Dynamics And Exploring Control Of A Single-Wheeled Dynamically Stable Mobile Robot With Arms" Description:
The Internet Archive:
This paper focuses on simulations of a dynamically stable mobile robot (Ballbot) with arms. The simulations are of Ballbot lifting its arms in various directions. A PD arm controller works independently of an LQR-designed balancing/station keeping controller. The PD controller drives the arms to follow desired trajectories. when the arms are raised, Ballbot assumes a leaning equilibrium (the physical equilibrium) as opposed to the standing equilibrium (body stands totally upright - a predefined desired equilibrium) that the LQR drives toward. The conflict - between these two equilibria causes the robot to lose its balance when lifting heavy (10 kg) loads. A unified arm and station keeping/balancing controller is also described. The unified controller outperforms the independent controllers in some cases. Balancing only using arms and driving body movement with arms are briefly explored.
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- Internet Archive Link: Archive.org page
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- Added Date: 2018-06-09 04:46:52
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