Balance and velocity control of a novel spherical robot with structural asymmetry

2021 ◽  
pp. 1-13
Author(s):  
Lufeng Zhang ◽  
Xuemei Ren ◽  
Qing Guo
Keyword(s):  
Velocity Control ◽  
Spherical Robot ◽  
Structural Asymmetry

scholarly journals Uncertainty Estimator-Based Sliding Mode Control For a Novel Spherical Robot With Cable Transmission Mechanism

2021 ◽  
Author(s):  
Lufeng Zhang ◽  
Xuemei Ren ◽  
Dongdong Zheng
Keyword(s):  
Sliding Mode ◽  
Control Strategies ◽  
Estimation Error ◽  
External Disturbance ◽  
Transmission Mechanism ◽  
Gear Train ◽  
Velocity Control ◽  
Spherical Robot ◽  
Gear Backlash ◽  
Uncertainty Estimator

Abstract This paper presents a new spherical robot with a cable transmission mechanism. Cable transmission mechanism replaces conventional gear train to eliminate the influence of gear backlash, lower the costs on mechanical customization, and can be arranged flexibly. By projection method, the 3D robot dynamic model with structural asymmetry is decoupled into balance subsystem and velocity subsystem, and the kinetics equations are established based on Newton-Euler's law. To estimate the unknown structural dynamics in the balance subsystem and external disturbance in the velocity subsystem, adaptive law containing both control and estimation error information is proposed for the uncertainty estimator (UE) design. Then, an uncertainty estimator-based sliding mode controller (UESMC) is introduced for balance and velocity control, leading to enhanced disturbance rejection capability and a reduced steady-state error. Simulations and experiments on a real spherical robot are conducted to demonstrate the efficacy of the proposed control strategies.

Dynamics Analysis and Control Method of a Novel Spherical Robot

2009 ◽  
Author(s):  
Hanxu Sun ◽  
Yili Zheng ◽  
Qingxuan Jia
Keyword(s):  
Control Method ◽  
Linear Quadratic Regulator ◽  
High Rate ◽  
Pd Controller ◽  
Velocity Control ◽  
Spherical Robot ◽  
Linear Quadratic ◽  
Lqr Controller ◽  
Gyroscopic Effects ◽  
And Control

A novel omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented; the mechanical structure of the robot are given, and the gyroscopic effects of high-rate flywheel can improve the dynamic stability of the robot. The simplified dynamic model of the robot is derived based on the constrained Lagrangian method. Moreover, a Linear Quadratic Regulator (LQR) controller and a Percentage Derivative (PD) controller are designed to implement the pose and velocity control of the robot respectively, Finally, the control method are validated through continuous circle motion experiment. This robot is designed for territory or lunar exploration in the future.

Multi-terrain Velocity Control of the Spherical Robot by Online Obtaining the Uncertainties in the Dynamics

2022 ◽  
pp. 1-1
Author(s):  
Yifan Liu ◽  
Yixu Wang ◽  
Xiaoqing Guan ◽  
You Wang ◽  
Song Jin ◽  
...  
Keyword(s):  
Velocity Control ◽  
Spherical Robot

Design and Optimization of the Thruster Pipes of a Submarine Spherical Robot

ROBOT ◽  
2013 ◽  
Vol 35 (1) ◽  
pp. 115
Author(s):  
Hao PAN ◽  
Hanxu SUN ◽  
Qingxuan JIA ◽  
Peng LI
Keyword(s):  
Spherical Robot ◽  
Design And Optimization
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