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

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:

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

Best, Markus

Asked by markus on 2018-02-01 10:23:42 UTC

Comments

I'll have to play with that model later and see what I find.

Btw, this looks really cool! Great write-up too.

Asked by josephcoombe on 2018-02-01 16:02:05 UTC

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

Asked by markus on 2018-02-02 09:41:03 UTC

Answers