Design and Simulation of Self-balancing Robot Using Reaction Sphere

摘要

This paper highlights the work for designing a reaction sphere pendulum. First, the equation of motion for the reaction sphere pendulum is developed using Lagrangian'smechanics. 3Dmodel of the experimental setup is designed using SOLIDWORKS, and its constructional methods are discussed in this paper. Based on the system parameters derived from 3D model, equation of motion was simulated using MATLAB and its stabilization behaviour was observed for LQR controller. Simulation results highlighted that the system was able to stabilize to its desired position within 5 s, when disturbed from 18°.