Research Of Spherical Robot With Stereo Vision And Control Method

Spherical robot which moves by the rolling is a new kind of mobile robot. The spherical robot has the advantage of high speed and zero radius of turning circle. The mechanical structure and circuit controls are in the shell, so it has a high level of adapting the complex environment. Spherical robot has the excellent prospect in military, industry and everyday life.The shell limits the spherical robot perception of the external information, meanwhile the sensors need a stable platform during the motion. For these two problems, the paper proposes a new mechanism with stereo vision based on the pendulum driven mechanism. Based on the analysis of motion principle, the paper does mechanical design and dynamics analysis. The test prototype is developed successfully. The experiments are finished. The main content of the thesis is as followed:(1)Because of the limit of shell, the paper proposes a new design of the spherical robot with stereo vision. Based on the analysis of motion principle, the paper does mechanical design and dynamics analysis. Then linearize and decouple the dynamics model, which is the theoretical basis for the controller design.(2)According to the dynamics model, the paper designs the motion controller with vision feedback. The controller is composition with inner angle controller and outer position controller. A three-dimensional spherical robot model is established, which uses MATLAB/ADAMS co-simulation to prove the validity of controller. Meanwhile the paper designs a stable platform controller based on dynamic sliding-mode function to guarantee the platform has an excellent convergence. Then the paper uses MATLAB to prove the validity of controller.(3)The control system of the spherical robot is proposed. The control system is divided into the motion control subsystem, the image handle upper system, implementation system, sensor system and power system. The components of each system and relationships are analyzed.(4)The experiments of the spherical robot with stereo vision are studied. The test prototype is developed successfully. Through the encoder of motor、vision camera and MTI the spherical robot can locate the position by itself. The experiments of the stable platform are also studied and get the data of the movement.