Simulation of a Ballbot (Omniwheeled Robot Simulation) Choosing Kp, Kd

asked 2018-02-01 09:23:42 -0500

markus gravatar image

updated 2018-02-02 08:44:43 -0500

Hey there,

I just simulated a ballbot in gazebo. Unfortunately it only balances around (10sec). There could be many reasons for that but if someone of you has some ideas of how to choose the kp, kd, mu1, mu2 values I would be very glad.

Currently I choose these values as follows: image description

These are my assumptions:

  • Only the kp, kd, mu1, mu2 of the subwheels the ball and the base_footprint (ground plate) matter
  • I guess I have to choose mu1 and mu2 for the subwheels, the ball and the ground plate always the same
  • Only the fdir1 parameter for the subwheels matters and it should be choosen as 1 0 0

I would be glad if you have some guesses how to choose the kp, kd, mu1, mu2 values in my simulation :)

Best, Markus

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Comments

I'll have to play with that model later and see what I find. Btw, this looks really cool! Great write-up too.

josephcoombe gravatar imagejosephcoombe ( 2018-02-01 15:02:05 -0500 )edit

Thanks :) Yeah I would appreciate that if you have a look on it :)

markus gravatar imagemarkus ( 2018-02-02 08:41:03 -0500 )edit