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Dokumenttyp:
Report / Forschungsbericht 
Autor(en):
Pellegrini, E.; Diepold, K. J.; Dessort, R.; Panzer, H. 
Titel:
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 Dezimalklassifikation:
620 
Beauftragende Einrichtung:
Lehrstuhl für Regelungstechnik 
Jahr:
2011 
Jahr / Monat:
2011-08 
Monat:
Aug 
Seiten/Umfang:
28 
Serientitel:
TRAC-6 
Serienbandnummer:
Sprache:
en 
TUM Einrichtung:
Lehrstuhl für Regelungstechnik 
Format:
Text