Dynamic Modeling of a Cubical Robot Balancing on Its Corner

Abstract

Aiming at the problem of self-balancing control of a cubical robot, this paper makes a research on the dynamic modeling of the cubical robot balancing on its corner. Using the prototype of cubical robot we built as the research object, the dynamic model is derived with Lagrangian method on foundation of analysis of coordinate transformation relation of cubical robot. The correctness of the model is verified in theory by numerical simulation. The controller, designed based on reaction torque characteristic of inertia wheels, is used in balance control of the cubical robot. The effectiveness of the controller is verified again with the obtained expect effect. The dynamic model developed and controller can provide a base for further study of balance control of a cubical robot.