1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100083, China; 2. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
王亮清, 孙汉旭, 贾庆轩. 球形机器人的圆周运动分析[J]. 机器人, 2007, 29(1): 56-60,66..
WANG Liang-qing, SUN Han-xu, JIA Qing-xuan. Circle Motion Analysis on a Spherical Robot. ROBOT, 2007, 29(1): 56-60,66..
Abstract:Using Kane approach,the circle motion kinematics and dynamics of a spherical robot are analyzed and the dynamic model is derived.The model is simulated,and an experiment is made with the Spherical Robot Ⅲ.Simulation and experimental results support the circle motion analysis.
[1] Xu Y S,Au S K W.Stabilization and path following of a single wheel robot[J].IEEE/ASME Transactions on Mechatronics,2004,9(2):407-419.
[2] Halme A,Sch(o)nberg T,Wang Y.Motion control of a spherical mobile robot[A].Proceedings of the 4th IEEE International Workshop on Advanced Motion Control[C].Piscataway,NJ,USA:IEEE,1996.259-264.
[3] Bicchi A,Balluchi A,Prattichizzo D,et al.An experimental testbed for research and teaching in nonholonomy[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1997.2620-2625.
[4] Bhattacharya S,Agrawal S K.Spherical rolling robot:a design and motion planning studies[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,2000.835-839.
[5] Amir Homayoun 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].Piscataway,NJ,USA:IEEE,2002.3527-3533.
[6] Camicia C,Conticelli F,Bicchi A.Nonholonomic kinematics and dynamics of the Sphericle[A].Proceedings of the 2000 IEEE/RSJ International.Conference on Intelligent Robots and Systems[C].Piscataway,NJ,USA:IEEE,2000.805-810.
[7] 肖爱平,孙汉旭,谭月胜,等.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.
[8] 肖爱平.一种新颖的球形行走机器人的研究[D].北京:北京邮电大学,2005.
[9] Mukherjee R,Minor M A,Pukrushpan J T.Motion planning for a spherical mobile robot:revisiting the classical ball-plate problem[J].Transactions of the ASME,2002,124(4):502-511.