Modelling of the robotic powerball®: A nonholonomic, underactuated and variable structure-type system

Mathematical and Computer Modelling of Dynamical Systems

Volumn 16, Issue 4, 2010, Pages 327-346

  Petriča, Tadej ^a   Curk, Boris ^b   Cafuta, Peter ^b   Žlajpah, Leon ^a  

^a JO EF STEFAN INSTITUTE   (Slovenia)

^b UNIVERSITY OF MARIBOR   (Slovenia)

Author keywords

Dynamic system; Dynamical analysis; Gyroscopic device; Modelling; Nonholonomic load; Rhythmic motion

Indexed keywords

CONTROL EXPERIMENTS; DYNAMICAL ANALYSIS; FRICTION EFFECT; GYROSCOPIC DEVICE; HUMAN OPERATOR; NONHOLONOMICS; ONE AND TWO DEGREES OF FREEDOMS; RHYTHMIC MOTION;

DYNAMICAL SYSTEMS; FRICTION; HOUSING; MECHANICS; MODELS; MOTION ESTIMATION; ROBOTICS;

COMPUTER SIMULATION;

EID: 78649372130     PISSN: 13873954     EISSN: 17445051     Source Type: Journal    
DOI: 10.1080/13873954.2010.484237     Document Type: Article

References (14)

1. A. Gams, A.J. Ijspeert, S. Schaal, and J. Lenarcic, On-line learning and modulation of periodic movements with nonlinear dynamical systems, Auton. Robots 27 (2009), pp. 3-23.
2. L. Zlajpah, Robotic yo-yo: Modelling and control strategies, Robotica 24 (2006), pp. 211-220.
3. A. Gams, L. Zlajpah, and J. Lenarcic, Imitating human acceleration of a gyroscopic device, Robotica 25 (2007), pp. 501-509.
4. D.W. Gulick and O.M. O'Reilly, On the dynamics of the dynabee, J. Appl. Mech. 67 (2000), pp. 321-325.
5. P. Heyda, Roller ball dynamics revisited, Am. J. Phys. 70 (2002), pp. 1049-1051.
6. B. Binder, Magic angle chaotic precession, CHAOS 2008, Greece, Grete, Chania, 13 June 2008.
7. A.L. Mishler, Gyroscopic device, Patent U.S. 3726146, 1973.
8. B. Curk and P. Cafuta, Modeling exercising on wrist exerciser, 6th Vienna Conference on Mathematical Modelling, Vienna, Austria, 11-13 February 2009, pp. 364-372.
9. M.W. Spong, Underactuated mechanical systems, in Control Problems in Robotics and Automation, B. Siciliano and K. P. Valavanis, eds., Springer-Verlag, London, UK, 1998.
10. C. Ucke and H.J. Schlichting, Faszinierendes Dynabee, Physik in unserer Zeit 33 (2002), pp. 230-231.
11. P. Cafuta and B. Curk, Control of nonholonomic robotic load, 10th International Workshop on Advanced Motion Control, Trento, Italy, 26-28 March 2008, pp. 631-636.
12. G. Escobar, R. Ortega, and M. Reyhanoglu, Regulation and tracking of the nonholonomic double integrator: a field-oriented control approach, Automatica 34 (1998), pp. 125-131.
13. T. Petrič and B. Curk, Robotized Powerball: estimation of friction parameters, 17th International Conference ERK 2008, B, Portorož, Slovenia, 29 September - 1 October 2008, pp. 203-206.
14. A. Gams, T. Petrič, and Žlajpah L., Controlling yo-yo and gyroscopic device with nonlinear dynamic systems, 18th International Workshop on Robotics in Alpe-Adria-Danube Region, Brasov, Romania, 25-27 May 2009, p. 6.