This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

1. 서 론
2. 로봇의 하드웨어 구성과 동역학 설계
3. PID 제어
4. 실험 및 결과
5. 결 론
Reference

• 박영식(Electrical Engineering, Pusan National University) | Young Sik Park
• 김수정(Electrical Engineering, Pusan Nationalal University) | Su Jeong Kim
• 변수정(Electrical Engineering, Pusan National University) | Soo Kyung Byun
• 이장명(Electrical Engineering, Pusan National University, Jangjeon-Dong, Geumjeong-Gu, Pusan, Korea) | Jang Myung Lee Corresponding Author