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http://dx.doi.org/10.7471/ikeee.2019.23.4.1236

Design and Control of Ball Robot capable of Driving Control by Wireless Communication  

Lee, Seung-Yeol (Dept. of Mechatronics Engineering, Korea Polytechnic University)
Jeong, Myeong-Jin (Dept. of Mechatronics Engineering, Korea Polytechnic University)
Publication Information
Journal of IKEEE / v.23, no.4, 2019 , pp. 1236-1242 More about this Journal
Abstract
Recently, according to improvement of robot technology, research for mobile robot is increasing. Mobile robot having 2-wheels or 4-wheels is easy for straight driving but is difficult for direction change and rotation. So, ball robot having one contact point with base is interested by researchers. By characteristics of the one contact, ball robot is required the balancing and driving control. In this paper, smart phone application, which is usable for control by wireless communication, is proposed. The ball robot having the proposed smart phone application is designed and manufactured. Balancing and driving control by wireless communication is conducted. From the test, it is conformed that ball robot has the control performances as roll angle error is ±0.8deg, pitch angle error is ±0.7deg, x-axis position error is ±0.1m, and y-axis position error is ±0.08m for 1m driving control.
Keywords
Ball robot; Wireless communication; Control; Ballancing; Driving; Smart phone application;
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