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Document type:
Report / Forschungsbericht 
Author(s):
Pellegrini, E.; Diepold, K. J.; Dessort, R.; Panzer, H. 
Title:
3D-Modeling of a Robot Balancing on a Ball 
Abstract:
This technical report presents a 3D model of a robot that balances on a ball. This new generation of robots, also called Ballbots, has recently been developed and described by several authors. Different from the conventional approach of generalizing 2D behavior to the 3D case, however, this report presents a full 3D model derived from geometrical, mechanical and energetical considerations; moreover, the motor dynamics is included. For control purposes, the model is linearized and analyzed with...    »
 
Dewey Decimal Classification:
620 
Contracting organization:
Lehrstuhl für Regelungstechnik 
Year:
2011 
Year / month:
2011-08 
Monat:
Aug 
Pages:
28 
Bookseries title:
TRAC-6 
Bookseries volume:
Language:
en 
TUM Institution:
Lehrstuhl für Regelungstechnik 
Format:
Text