Analysis of the parametric configuration impact on BallBot control performance

Abstract

The BallBot, a versatile robot system, finds applications in various domains of life. It comprises a frame moved by three wheels mounted on a ball. The robot performance is significantly influenced by its parametric configuration, including body mass, chassis size, and ball diameter. This study examines the impact of these configuration parameters on the control of the BallBot. The mathematical model of the BallBot is discussed, considering the assumptions and coordinate systems. To control the robot, a Linear Quadratic Regulator controller is designed. Subsequently, the simulation model is used to assess the effects of changing the initial parametric configuration. It is observed that altering the robot mass has a notable impact on the BallBot response, while changes in the ball diameter have a relatively insignificant effect.