Design of Spherical Robot with Telescopic Manipulator
SUN Hanxu1, ZHENG Yili2, JIA Qingxuan1, LIU Daliang1, SHI Chengkun 1
1. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China; 2. School of Technology, Beijing Forestry University, Beijing 100083, China
Abstract：Aiming at the deficiency of the operation ability of the spherical robot,a novel spherical mobile robot(BYQ-IV) with telescopic manipulator is presented.The mechanical architecture of the robot is described and analyzed in detail.The distributed wireless motion-control system and human-robot wireless communication system based on ad hoc networks are given,and the motion control method based on state feedback is introduced.Finally,the validity of the design and control method is shown by the experiments on the robot prototype.
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