Dynamic modeling and simulation of Q-Baller—a spherical wheeled robot

Abstract

In this paper we present the dynamic modeling of Q-Baller—a Spherical Wheeled Robot (Ball-Bot) design. A low cost prototype is constructed to verify the theoretical derivation. Low cost is achieved by using inexpensive structural design and electronic components, which, however, increases the difficulty for control. The Ball-Bot’s dynamic model is important for the later studied and design suitable controller. Simulations are performed to test the design concepts, which includes detailed system modeling, noisy environment setup and the human machine interface. The results of the simulation reveal some potential problems of the current design and the improvements needed in both mechanical components and controller designs. The simulations also prepare us for improving the Ball-Bot prototype and future experiments.