Dynamic Stability Analysis of Robots on Spherical Base with Variable Load Mass

Article explores the possibility of maintaining the equilibrium stability of the ball balancing robot (also known as a BallBot) with forced and free movement. This type of robots is initially unstable; therefore, it is necessary to create a control system that provides resistance to external influences. That requires to include into the analysis parameters of load's moment of inertia and rotational torque of the sphere base. A mathematical model of the sphere-based robot system was developed based on the augmented model of the inverse pendulum. A linear state controller with an internal model of free movement of the object has been obtained. Verification of the developed control system is performed using simulation in MATLAB / Simulink. The initial results of the study, including balancing in place and moving along the trajectory, are presented.