Research On The Motion Control Of Spherical Robot

Spherical Robot, as a novel micro mobile-robot, which is different from traditional wheel-robot, caterpillar-robot and foot-type robot, have durum-characteristics. It's easy for them to adapt to complex terrain such as amphibious , adapt for soft sand, with lower energy consumption.etc.Despite so many advantages, the traditional research on spherical robots limits in turn and go straight separately, robots don't have Omni-directional mobile ability, and can't do a continuous general motion trajectory tracking, which severely limits their applications. Therefore, this paper is dedicated to the study on a new type of double driving spherical robot control system, which can make them have comprehensive mobile ability. Firstly, kinematics and dynamics equations of the theorem based on momentum of spherical robots are studied, and the characteristics of the circular trajectory tracking are analyzed. Change matrix, which inverts displacement, velocity and other movement parameters from absolute coordinate system to robot coordinate system, is solved. So, influence of partial heart heavy torque and moment of inertia on the motion state of robots is analyzed.? Secondly, a control strategy, which is based on both the single pendulum and position servo, is put forward. So, the curvature of the continuous trajectory tracking is realized, and a simulation research, which focuses on effects of the control strategy on the robot attitude control and tracking effects, is carried out in MATLAB. Finally, embeddedμC/OS-II ARM controller and a driver, which can integrate the structure parameters feed backed by inertial navigation system, is built, and experiments on circular trajectory tracking of spherical robots are carried out. The whole system is to control, and the robot has good dynamic balance characteristics and trajectory tracking characteristics, which are proved by the experiments. So, it's completely feasible of the continuous trajectory tracking control strategy.?...