The Research Based On The Contact Of The Sensor Of Spherical Robot Motion Control

In the promotion of science and new technology development, the mobile robot has got rapidly development. Spherical robot is a special kind of mobile robot, it places sport actuators, sensors, controller and energy device inside a spherical shell internal. Compared with other mobile robots, Spherical robot is more flexible, adaptable with low energy consumption which has a broad prospect of application in military, industry, aviation and civil fields, etc. However, spherical robot will inevitably encounter the problem of climbing in movement. Currently, the motion control on the unknown angle bevel is not ideal. A spherical robot contact sensor-based motion control system is designed in this paper to solve the problem.Firstly, researching the structure and sport characteristic of spherical robot, establishing its climbing model and making kinetic analysis to give the movement balance condition of spherical robot. Putting forward a suitable array type of contact sensor system design scheme based on the conclusion of existing control system.Secondly, researching the noumenon control system of spherical robot to achieve the design, researching the sensor principles and sensitive materials, combing its characteristic to make sure pressure resistance principle of array type contact sensor in the spherical robot. Using light touch switch as the sensitive device and sensor unit layout as the scheme which can equal divide sphere with QTM. Completing the prototype production of the array type contact sensor. Then studying address coding, coordinate transformation and near searching algorithm according the model and spherical robot motion control algorithm.Thirdly, putting forward the hardware and software design scheme of spherical robot based on array type contact sensor system, completing hardware and software design of the noumenon control systems and sensor measurement system; Completing PC control and display software system in VC++programming environment, then completing the entire system hardware and software debugging.Finally, building an experiment platform, demonstrating the accuracy of the sensor system through data analysis obtained by the array of contact sensor measurement system and real time performance, etc. By climbing experiment, verifying the feasibility of this control system solutions.