Modelling and simulation analysis of rolling motion of spherical robot
This paper presents the findings of modelling, control and analysis of the spherical rolling robot based on pendulum driven within the simulation environment. The spherical robot is modelled using Lagrange function based on the equation of rolling motion. PD-type Fuzzy logic controller (FLC) was...
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IOP Publishing
2017
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| Online Access: | http://irep.iium.edu.my/62883/ http://irep.iium.edu.my/62883/ http://irep.iium.edu.my/62883/ http://irep.iium.edu.my/62883/1/62883%20Modelling%20and%20Simulation%20Analysis%20of%20Rolling%20Motion.pdf http://irep.iium.edu.my/62883/2/62883%20Modelling%20and%20Simulation%20Analysis%20of%20Rolling%20Motion%20SCOPUS.pdf |
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iium-628832019-04-22T06:36:20Z http://irep.iium.edu.my/62883/ Modelling and simulation analysis of rolling motion of spherical robot Kamis, N.N. Embong, Abd Halim Ahmad, Salmiah T Technology (General) This paper presents the findings of modelling, control and analysis of the spherical rolling robot based on pendulum driven within the simulation environment. The spherical robot is modelled using Lagrange function based on the equation of rolling motion. PD-type Fuzzy logic controller (FLC) was designed to control the position of the spherical robot where 25 rules were constructed to control the rolling motion of spherical robot. It was then integrated with the model developed in Simulink-Matlab environment. The output scaling factor (output gain) of the FLC was heuristically tuned to improve the system performance. The simulation results show that the FLC managed to eliminate the overshoot response and demonstrated better performance with 29.67% increasing in settling time to reach 0.01% of steady state error. IOP Publishing 2017-11-07 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/62883/1/62883%20Modelling%20and%20Simulation%20Analysis%20of%20Rolling%20Motion.pdf application/pdf en http://irep.iium.edu.my/62883/2/62883%20Modelling%20and%20Simulation%20Analysis%20of%20Rolling%20Motion%20SCOPUS.pdf Kamis, N.N. and Embong, Abd Halim and Ahmad, Salmiah (2017) Modelling and simulation analysis of rolling motion of spherical robot. In: 6th International Conference on Mechatronics - ICOM'17, 8th–9th August 2017, Kuala Lumpur, Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/260/1/012014/pdf 10.1088/1757-899X/260/1/012014 |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
International Islamic University Malaysia |
| building |
IIUM Repository |
| collection |
Online Access |
| language |
English English |
| topic |
T Technology (General) |
| spellingShingle |
T Technology (General) Kamis, N.N. Embong, Abd Halim Ahmad, Salmiah Modelling and simulation analysis of rolling motion of spherical robot |
| description |
This paper presents the findings of modelling, control and analysis of the spherical
rolling robot based on pendulum driven within the simulation environment. The spherical robot
is modelled using Lagrange function based on the equation of rolling motion. PD-type Fuzzy
logic controller (FLC) was designed to control the position of the spherical robot where 25 rules
were constructed to control the rolling motion of spherical robot. It was then integrated with the
model developed in Simulink-Matlab environment. The output scaling factor (output gain) of
the FLC was heuristically tuned to improve the system performance. The simulation results show
that the FLC managed to eliminate the overshoot response and demonstrated better performance
with 29.67% increasing in settling time to reach 0.01% of steady state error. |
| format |
Conference or Workshop Item |
| author |
Kamis, N.N. Embong, Abd Halim Ahmad, Salmiah |
| author_facet |
Kamis, N.N. Embong, Abd Halim Ahmad, Salmiah |
| author_sort |
Kamis, N.N. |
| title |
Modelling and simulation analysis of rolling motion of
spherical robot |
| title_short |
Modelling and simulation analysis of rolling motion of
spherical robot |
| title_full |
Modelling and simulation analysis of rolling motion of
spherical robot |
| title_fullStr |
Modelling and simulation analysis of rolling motion of
spherical robot |
| title_full_unstemmed |
Modelling and simulation analysis of rolling motion of
spherical robot |
| title_sort |
modelling and simulation analysis of rolling motion of
spherical robot |
| publisher |
IOP Publishing |
| publishDate |
2017 |
| url |
http://irep.iium.edu.my/62883/ http://irep.iium.edu.my/62883/ http://irep.iium.edu.my/62883/ http://irep.iium.edu.my/62883/1/62883%20Modelling%20and%20Simulation%20Analysis%20of%20Rolling%20Motion.pdf http://irep.iium.edu.my/62883/2/62883%20Modelling%20and%20Simulation%20Analysis%20of%20Rolling%20Motion%20SCOPUS.pdf |
| first_indexed |
2023-09-18T21:29:06Z |
| last_indexed |
2023-09-18T21:29:06Z |
| _version_ |
1777412390448529408 |