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:
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
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