TY - GEN
T1 - Motion control of spherical robot based on conservation of angular momentum
AU - Shu, Guanghui
AU - Zhan, Qiang
AU - Cai, Yao
PY - 2009
Y1 - 2009
N2 - Spherical robot is a special type of mobile robot which spherical structure offers special characteristic of motion, for example it has the capability to recover from collisions with static or mobile obstacles in the same area. In this paper the motion control of a kind of spherical robot based on conservation of angular momentum is discussed. Firstly, the dynamic model of a simplified version of this kind of spherical robot is built and analyzed with Lagrange equation, and its differential motion equation is obtained and the relation equation between the motion of the spherical robot and the motion of the rotor is deduced. Then, how to control the motion of internal rotor to realize expected motion of this kind of spherical robot is presented. Finally, with the parameters of a prototype of a spherical robot the motion control approach is verified by simulations with Matlab and ADAMS respectively
AB - Spherical robot is a special type of mobile robot which spherical structure offers special characteristic of motion, for example it has the capability to recover from collisions with static or mobile obstacles in the same area. In this paper the motion control of a kind of spherical robot based on conservation of angular momentum is discussed. Firstly, the dynamic model of a simplified version of this kind of spherical robot is built and analyzed with Lagrange equation, and its differential motion equation is obtained and the relation equation between the motion of the spherical robot and the motion of the rotor is deduced. Then, how to control the motion of internal rotor to realize expected motion of this kind of spherical robot is presented. Finally, with the parameters of a prototype of a spherical robot the motion control approach is verified by simulations with Matlab and ADAMS respectively
UR - https://www.scopus.com/pages/publications/77449096722
U2 - 10.1109/ICMA.2009.5245059
DO - 10.1109/ICMA.2009.5245059
M3 - 会议稿件
AN - SCOPUS:77449096722
SN - 9781424426935
T3 - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
SP - 599
EP - 604
BT - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
T2 - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Y2 - 9 August 2009 through 12 August 2009
ER -