Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms

Abstract

This pap er focuses on simulations of a dynamically stable mobile rob ot (Ballb ot) with arms. The simulations are of Ballb ot lifting its arms in various directions. A PD arm controller works indep endently of an LQR-designed balancing/station keeping controller. The PD controller drives the arms to follow desired tra jectories. When the arms are raised, Ballb ot assumes a leaning equilibrium (the physical equilibrium) as opp osed to the standing equilibrium (b ody stands totally upright - a predefined desired equilibrium) that the LQR drives toward. The conflict b etween these two equilibria causes the rob ot to lose its balance when lifting heavy (10 kg) loads. A unified arm and station keeping/balancing controller is also describ ed. The unified controller outp erforms the indep endent controllers in some cases. Balancing only using arms and driving b ody movement with arms are briefly explored.