Movement Trajectory Planning and Control for a Spherical Robot
XIAO Ai-ping1, SUN Han-xu1, TAN Yue-sheng2, MA Guo-wei1, ZHAO Yong 1
1. School of Automation, Beijing University of Post and Telecommunications, Beijing 100876, China; 2. Institute of Robotics, Beihang University, Beijing 100083, China
肖爱平, 孙汉旭, 谭月胜, 马国伟, 赵勇. 一种球形机器人运动轨迹规划与控制[J]. 机器人, 2004, 26(5): 444-447,460..
XIAO Ai-ping, SUN Han-xu, TAN Yue-sheng, MA Guo-wei, ZHAO Yong . Movement Trajectory Planning and Control for a Spherical Robot. ROBOT, 2004, 26(5): 444-447,460..
Abstract：Movement planning strategy and control design for a nonholonomic and underactuated system is introduced in this paper, and a firenew omnidirectional mobile robot, which can be used in various fields with its excellent flexibility, has been developed.
[1] Halme A, Suomela J, Schonberg T, et al. Motion control of a spherical mobile robot[A]. 4th IEEE International Workshop on Advanced Motion Control AMC'96[C]. Japan:IEEE, 1996. 259-274. [2] Bicchi A, Balluchi A, Prattichizzo D, et al. Introducing the "SPHERICAL":an experimental testbed for research and teaching in nonholonomy[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Albuquerque, NM:IEEE, 1997.2620-2625. [3] Ferriere L, Raucent B, Campion G. Design of omnimobile robot wheels[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Minneapolis, MN:IEEE, 1996.3664-3670. [4] Bhattacharya S, Agrawal S K. Spherical rolling robot:a design and motion planning studies[A]. Proceedings of the IEEE InternationalConference on Robotics and Automation[C]. San Francisco:IEEE,2000.835-839. [5] Homayoun A, Javadi A, Mojabi P. Introducing August:a novel strategy for an omnidirectional spherical rolling robot[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Washington DC:IEEE, 2002. 3527-3533. [6] 梅凤翔.非完整系统力学基础[M].北京:北京工业学院出版社,1985.30-31. [7] Murray R R, Li Z, Sastry S S. A Mathematical Introduction to Robotic Manipulation[M]. Boca Raion, FL:CRC Press, 1993.
