Ball Balancing Robot

 

 

The Ball Balancing Robot is an omnidirectional balancing mobile robot. It balances itself about the vertical axis. Its motion is controlled by 3 omni wheels, spaced in equiangular orientation.

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The goal of this project was to perform the kinematic and dynamic modeling of the robot. Also, the robot was simulated in CoppeliaSim (formerly VRep).

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Following are the videos of the robot tracking a circular and straight line trajectory.

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                                                                                                       Circular Trajectory

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                                                                                                     Straight line Trajectory

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The report of the project detailing the kinematic derivations and the Euler Lagrange equation of motion is given below

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