{"title":"Cover Image, Volume 4, Number 4, December 2024","authors":"","doi":"10.1002/msd2.12140","DOIUrl":null,"url":null,"abstract":"<p><b>Cover Caption</b>: The BallBot, a versatile robot system, finds applications in various domains of life. During the operating process, its performance is influenced by parametric configurations, including body mass, chassis size, and ball diameter. Based on a 3D-dynamics model of the Ballbot, a linear-quadratic regulator (LQR) controller is effectively applied to control such an underactuated MIMO system with nonlinear characteristics as the Ballbot. Subsequently, the simulation model is used to assess the effects of changing the initial parametric configuration. Obviously, the body mass of Ballbot significantly impacts the system response time and stability, whereas the ball parameters have a less pronounced effect.\n\n <figure>\n <div><picture>\n <source></source></picture><p></p>\n </div>\n </figure></p>","PeriodicalId":60486,"journal":{"name":"国际机械系统动力学学报(英文)","volume":"4 4","pages":"i"},"PeriodicalIF":3.4000,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.12140","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"国际机械系统动力学学报(英文)","FirstCategoryId":"1087","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/msd2.12140","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
Cover Caption: The BallBot, a versatile robot system, finds applications in various domains of life. During the operating process, its performance is influenced by parametric configurations, including body mass, chassis size, and ball diameter. Based on a 3D-dynamics model of the Ballbot, a linear-quadratic regulator (LQR) controller is effectively applied to control such an underactuated MIMO system with nonlinear characteristics as the Ballbot. Subsequently, the simulation model is used to assess the effects of changing the initial parametric configuration. Obviously, the body mass of Ballbot significantly impacts the system response time and stability, whereas the ball parameters have a less pronounced effect.
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