Research On Embedded Motion Control System For Spherical Robot

Spherical robot is a new-style mobile robot. It moves by rolling. It relies on the internal drive device to shift the center of gravity to get the momentum to move forward. The mechanical structure and control circuit of the spherical robot are installed inside the shell, so they will be protected effectively, this design enables the robot to have the ability to adapt to harsh conditions. At the same time the spherical robot has the similar characteristics of tumbler, it can walk in all directions. The spherical robot has broad application prospects.The motion control problem has been the focus of the research on the spherical robot field. This paper takes the spherical robot as the research object. It is designed by Beijing Jiaotong University and Beijing University of Posts and Telecommunications. On the basis of a detailed analysis of the robot’s mechanical system, this paper designed an embedded motion control system of the spherical robot. It is based on ARM processor. The main research contents of this paper are as follows:(1)According to spherical robot mechanical structure design and its moving principal, this paper makes a dynamic analysis and modeling of the robot, and analyzes the state of the robot when the input is constant torque or velocity. It provides the theoretical basis for the design of the motion controller.(2)According to the kinetic model, this paper designs a PID motion controller. It is based on state feedback, and this paper studies the PID control algorithm and its digital implementation. This paper also studies on the method of restraining the heavy swing oscillation. This paper uses Matlab Simulink to simulate the robot velocity and attitude control to verify the effectiveness of the control algorithm.(3)This paper designs the overall scheme of the embedded motion control system for the spherical robot. In the aspect of hardware system, this paper mainly builds the hardware platform, including circuit design of the core control module, hardware type selection for the motor drive module, sensor module and the communication module. In the aspect of software system, the main program and each subsystem program is written, and this paper designs the PC software.(4)This paper carries out experimental research on the motion control system of spherical robot. This paper deals with the data of inertial measurement unit, and collects the accurate attitude information. The speed and attitude control of the spherical robot is realized. The result verifies the effectiveness of the motion control algorithm. And also the linear motion and arc turning motion of the robot is realized.