With Arm Spherical Robot Technology

The research is sourced from the 863 plan (The National High Technology Research and Development Program of China) project named The Research and Development of a Universal Rolling Spherical Robot with Manipulator (Project No.: 2006AA04Z243). This thesis took the development of spherical mobile robot as the research background, and designed the spherical robot with manipulator in the aspects of structure design, control system design, stability analysis, as well as a novel algorithm about the mobile robot obstacle avoidance problem and the multi-robot path planning.At the first beginning, the developing condition of the spherical robot has been introduced national wide and worldwide. Meanwhile, the conditions of mobile robot control system and mobile robot obstacle avoidance and path planning algorithm has been introduced.In the section about the structure design, the whole robot had been divided into three sub-systems, including the motion driving system, the manipulator system and the stability maintain system. By comparing the optional design of those three sub-systems separately, the final design had been decided, and the specific parameters had been designed by the estimating-adjusting way.In the section of robot control system design, based on the analysis of the system requirements, the driver & application components, the sensors, the communication instruments has been chosen, and then, by comparing the DSP control system and ARM control system, the distribute ARM system had been chosen as the ultimate plan.In the section of kinematics and dynamics analysis section, the plan model of the spherical robot had been introduced, and based on the model, the control of the stability of the robot with manipulator had been analyzed, then, the relationship between the capturing state and the state of the pendulum, and the character of the self-stability of the robot with manipulator had been conducted.In the section of mobile robot obstacle avoidance and path planning, a novel algorithm which solves those problems by designing a virtual manipulator model had been proposed, and then it had been deducted and some simulations had been taken. In the last of the thesis, all the work of the design of the robot with manipulator had been concluded, and the future work had been planned.