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Foundations of Robotics
Seminar, October 29, 2008
Time
and Place | Seminar Abstract
Trajectory Planning and Control of an Underactuated Dynamically Stable
Single Spherical Wheeled Mobile Robot
Umashankar Nagarajan
Speaking Qualifier
Carnegie Mellon University - Robotics Institute
NSH 1507
Talk 4:00 pm
The ballbot is a dynamically stable mobile robot that moves on a single
spherical wheel and is capable of omnidirectional movement. The ballbot is
an underactuated system with second-order nonholonomic constraints. An
offline trajectory planning algorithm is proposed that provides a class of
parametric trajectories to the unactuated joint in order to reach desired
static configurations of the system with regard to the dynamic constraint.
The parameters of the trajectories are obtained using optimization
techniques. A feedback controller is proposed that ensures accurate
trajectory tracking. The trajectory planning algorithm and tracking
controller are validated experimentally. The offline trajectory planning
algorithm is also extended to a generalized case of motion between
non-static configurations.
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.