Motion Control of a Novel Spherical Robot Equipped with a Flywheel
An omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented, the gyroscopic effects of high-rate flywheel can further enhance the dynamic stability of the spherical robot. This robot is designed for territory or lunar exploration in the future. The mechanical structure and control system of the robot are given particularly. Using the constrained Lagrangian method, the simplified dynamic model of the robot is derived under some assumptions, Moreover, a Linear Quadratic Regulator (LQR) controller and Percentage Derivative (PD) controller are designed to implement the pose and velocity control of the robot respectively, Finally, the dynamic model and the controllers are validated through simulation study and prototype experiment.
Jia Qingxuan Zheng Yili Sun Hanxu Cao Hongyu Li Hongyi
Space Robot Research Center,Beijing University of Posts and Telecommunications,Beijing,100876,China
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
893-898
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）