Ehsan Ahmadian - faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran
Rezavan Abbasi - faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran

The Ball Balancing Robot is a robot which balances on top of a ball usually with 3 stepper motor that connected directly to the ball. BBR can move around itself and also the X-axis. The robot is basically a 3D pendulum, high order and tend to be unstable. BBR has lots of dynamical behavior which makes it nonlinear. The structure of this system consists of: a ball, a structure to support the components, three Omni wheels, three stepper motors with encoders, three motor drivers, an IMU, mbed LPC1768 microcontroller, and a battery. The goal of our method is to achieve stability with all the disturbances which make the robot unstable. We try to show the robot as a building that resists earthquake. In this paper, we use an open-loop system with six static parameters like mass of the ball, mall of the body, length of the body c.o.g. to end of the body, the moment of inertia of the body, coefficient of friction between the ball, body, and floor, and gravitational acceleration. We should fix these model parameters, inputs, and outputs that is needed for simulation model in section 2. After that, we process noise standard deviation and measure the noise variance. The measurement of noise standard deviations can be based on the physical characteristics of the sensor and/or the measuring process. The process of noise is usually treated as a tuning parameter to adjust the gain of the Kalman filter to smooth data more or less, we use some LQR equations for the motion of the body and ball define in section 3. We use a PID controller and LQR in the open-loop system to control the speed of the motor in section 4.

Ball-self Balancing, Robot, Linear motion, Earthquake.