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dc.contributor.authorChan, Hsiang -Chunen_US
dc.identifier.citationReferences [1] T. B. Lauwers, G. A. Kantor, and R. L. Hollis, “A Dynamical Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive,” Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, USA, pp. 2884-2889, 2006. [2] M. Kumagai, T. Ochiai, “Development of a Robot Balancing on a Ball” in Proc. IEEE Int. Conf. Contr. Autom. And Systems, pp. 433-438, 2008. [3] M. Kumagai and T. Ochiai, “Development of a Robot Balancing on a Ball- Application of passive motion transportation,” in Proc. IEEE Int. Conf. Robot. And Autom., pp. 4106-4111, 2009. [4] (2011-07) [5] C. W. Liao, C. C. Tsai, Y. Y. Li, C. K. Chan, “Dynamic Modeling and Sliding-Mode Control of a Ball Robot with Inverse Mouse-Ball Drive,” Proceedings of SICE 2008, Tokyo, Japan, pp. 2951-2955, 2008. [6] R. Hollis, “Ballbots,” Scientific American Magazine, pp. 72-77, Oct. 2006. [7] J. C. Lo and Y. H. Kuo, “Decoupled fuzzy sliding-mode control,” IEEE Transactions on Fuzzy Systems, vol. 6, no. 3, pp. 426-435, 1998. [8] C. M. Lin, Y. J. Mon, “Decoupling Control by Hierarchical Fuzzy Sliding-Mode Controller,” IEEE Transactions on Control Systems Technology, vol. 13, no. 4, pp. 593-598, 2005. [9] Wang, X.D. Liu, and J.Q. Yi, “Structure Design of Two Types of Sliding-Mode Controllers for a Class of Under-Actuated Mechanical Systems,” IET Proceeding of Control Theory and Applications, vol. 1, no. 1, pp. 163-172, 2007. [10] U. Nagarajan and A. Mampetta, G. A. Kantor and R. L. Hollis, “State Transition, Balancing, Station Keeping, and Yaw Control for a Dynamically Stable Single Spherical Wheel Mobile Robot” in Proc.IEEE Int. Conf. Robot. And Autom., pp. 998-1003, 2009. [11] U. Nagarajan, G. A. Kantor and R. L. Hollis, “Trajectory Planning and Control of an Underactuated Dynamically Stable Single Spherical Wheeled Mobile Robot” in Proc. IEEE Int. Conf. Robot. And Autom., pp. 3743-3748, 2009. [12] A. Weiss, R. G. Langlois, and M. J. D. Hayes, “The Effects of Dual Row Omnidirectional Wheels on the Kinematics of the Atlas Spherical Motion Platform,” Mechanism and Machine Theory, vol. 44, pp. 349-358, 2009. [13] D. Tlalolini, C. Chevallereau, and Y. Aoustin, “Comparison of different gaits with rotation of the feet for a planar biped,” Robotics and Autonomous Systems, vol. 51, pp. 81-99, 2005.zh_TW
dc.description.abstractThe thesis presents techniques and design methodologies for system design, modeling and control of a ball-riding robot driven by three omnidirectional wheels. The proposed ball robot is designed and implemented using three omnidirectional wheels driving a ball, and employing one tilt sensor, one rate gyro, one accelerometer and three encoders, and a low-cost digital signal processor as a main controller. With the designed structure, a completely dynamic model of the robot moving on a flat terrain is derived using Lagrangian mechanics. Two double PD controllers are synthesized to achieve self-balancing, station keeping and point stabilization. Through computer simulations and experimental results, the proposed controllers together with the built ball robot system are successfully shown to give a satisfactory control performance.en_US
dc.description.tableofcontentsContents 誌 謝 詞 i 中文摘要 ii Abstract iii Contents iv List of Figures vii List of Tables xi Nomenclature xii List of Acronyms xiv Chapter 1 Introduction 1 1.1 Introduction 1 1.2 Literature Review 4 1.2.1 Related Work for Modeling and Control of Ballbots Driven by Two or Four Motors 4 1.2.2 Related Work for Modeling and Control of Ball Robots Driven by Three Omnidirectional Wheels 5 1.3 Motivation and Objectives 5 1.4 Main Contributions 6 1.5 Thesis Organization 6 Chapter 2 Mechatronic System Design and Control Structure 7 2.1 Introduction 7 2.2 System Structure and Mechatronic Design 7 2.2.1 Description of the Ball Robot System 7 2.2.2 Omnidirectional Wheel Design 9 2.2.3 DC Servomotor Drive 12 2.2.4 Motor 14 2.3 Description of Key Components: Controller and Sensors 15 2.3.1 Dual-axis Tilt sensor 15 2.3.2 Dual-Axis Gyroscope 18 2.3.3 Accelerometer 20 2.3.4 Rotary Encoder 22 2.3.5 Power Supply System 23 2.3.6 Digital Signal Processor 25 2.3.7 Signal Flow 29 2.4 Control Architecture 30 2.5 Concluding Remarks 30 Chapter 3 Dynamic Modeling 32 3.1 Introduction 32 3.2 Kinematic and Dynamic Models of the Inverse Atlas Spherical Motion Platform 33 3.3 Dynamic Modeling of the Two-Dimensional Mobile Inverted Pendulum 37 3.3.1 Vehicle Dynamics in the Median Sagittal plane 38 3.3.2 Vehicle Dynamics in the Median Coronal plane 40 3.4 Parameters Determination 42 3.5 Concluding Remarks 43 Chapter 4 Self-Balancing and Position Control Using Double PD Controller 44 4.1 Introduction 44 4.2 Linearized Models in the Median Sagittal and Coronal Planes 45 4.2.1 Linearized Model in the Median Sagittal Plane 45 4.2.2 Linearized Model in the Median Coronal Plane 45 4.3 Proposed Double PD Control Laws 46 4.3.1 Proposed Double PD Control in the Median Sagittal Plane 46 4.3.2 Proposed Double PD control in the Median Coronal Plane 48 4.4 Double PD controller Design Using Linear Quadratic Regulator Approach 49 4.5 Simulations and Discussion 51 4.5.1 Balancing and Station Keeping 53 4.5.2 Point-To-Point Stabilization 59 4.5.3 Straight-Line Path-Following 63 4.6 Experimental Results and Discussion 66 4.7 Concluding Remarks 71 Chapter 5 Conclusions and Future Work 72 5.1 Conclusions 72 5.2 Future Work 73 References 75zh_TW
dc.subjectOmnidirectional Wheelen_US
dc.subjectBall Roboten_US
dc.titleSystem Design, Modeling and Control of a Ball Robot Driven by Three Omnidirectional Wheelsen_US
dc.typeThesis and Dissertationzh_TW
item.openairetypeThesis and Dissertation-
item.fulltextno fulltext-
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