## Search found 3 matches

08 Mar 2018, 14:49
Forum: General questions
Topic: Ballbot and Controller
Replies: 4
Views: 1173

### Re: Ballbot and Controller

Thanks for helping me. Now I can design an LQR or PID controller.
07 Mar 2018, 20:06
Forum: General questions
Topic: Ballbot and Controller
Replies: 4
Views: 1173

### Re: Ballbot and Controller

Thanks for answering me. So, the code that calculates the angular velocity of the actuator is this below (variable v). The variable "velo" is the absolute velocity of the robot. The gain of the controller is 200, but I did not understand the "dir" (direction) and also I do not know what "vect" is. I...
06 Mar 2018, 14:05
Forum: General questions
Topic: Ballbot and Controller
Replies: 4
Views: 1173

### Ballbot and Controller

Hello everyone, I am studying the ballbot model in V-REP. Could someone help me understand it? local l=math.sqrt(v[1]*v[1]+v[2]*v[2]+v[3]*v[3]) local ls=l local w=0.18 v[1]=v[1]*ls*w/l v[2]=v[2]*ls*w/l v[3]=v[3]*ls*w/l I understand that v[1]=v[1]*ls*w/l it is the same as v[1]=v[1]*w, because above t...