Research On Spherical Robot With High Speed Motion And Its Control Technology

Spherical robot is a kind of special robot with special structure and action mode.It realizes omni-directional motion by driving the spherical shell with internal drive unit.Compared with wheeled robots and foot robots,spherical robots have the advantages of flexible steering and strong adaptability to complex environment due to their special sealed shape structure and driving mode.Therefore,spherical robots have broad application prospects in disaster rescue,military reconnaissance,geological exploration and other fields.In recent years,the participation degree of robots in human work is gradually increasing,which makes its work task face the trend of complexity.This trend puts forward higher requirements for the movement speed of spherical robots.In the existing research results,the motion speed of the spherical robot is mostly below 1.5m/s,which is difficult to meet the increasingly developing practical task requirements.Therefore,it is of great significance to study the high-speed motion control method of spherical robot to improve its practicability.In this paper,the dynamics modeling,motion control and control system design of the spherical robot are studied in detail,and the effectiveness of the proposed control method is verified through the combination of simulation analysis and experimental verification.The main research contents are as follows:(1)take a Lagrangian approach respectively established the dynamic model of spherical robot plane and spherical shell spatial dynamics model,the multi-body dynamics model,respectively discusses the plane model and the spherical robot space model of the constrained conditions,analyzes the dynamic characteristics of the spherical robot,which provides theoretical basis for study of motion control.(2)Aiming at the complex problems of the dynamics model of the spherical robot,the ideal motion state conditions of the spherical robot and its inference were proposed,the dynamics model was decoupled and linearized,and the control strategy was designed.Aiming at the problem that the movement speed of pendulum driven spherical robot needs to be improved and the steering is difficult,a speed-heading controller is designed.The effectiveness of the designed controller is verified by MATLAB/ADAMS co-simulation.(3)According to the movement requirements of the spherical robot,the control system of the spherical robot is designed.The control system is divided into four parts:position and pose feedback system,core controller,spherical robot body and communication system.According to the design scheme,the BYQ-GS spherical robot is used as the platform to carry out the experimental research on the spherical robot.The experimental research includes positioning experiment and motion experiment,which verifies the feasibility of the control system design and the effectiveness of the speed-heading controller.