邓宗全, 岳明, 禹鑫燚, 方海涛. 球形运动器动力学分析及控制系统设计[J]. 机器人, 2006, 28(6): 565-570.
引用本文: 邓宗全, 岳明, 禹鑫燚, 方海涛. 球形运动器动力学分析及控制系统设计[J]. 机器人, 2006, 28(6): 565-570.
DENG Zong-quan, YUE Ming, YU Xin-yi, FANG Hai-tao. Dynamic Analysis and Control System Design of the Spherical Robot[J]. ROBOT, 2006, 28(6): 565-570.
Citation: DENG Zong-quan, YUE Ming, YU Xin-yi, FANG Hai-tao. Dynamic Analysis and Control System Design of the Spherical Robot[J]. ROBOT, 2006, 28(6): 565-570.

球形运动器动力学分析及控制系统设计

Dynamic Analysis and Control System Design of the Spherical Robot

  • 摘要: 球形运动器在设计上的特点是将转向和驱动行走两种运动相互分开,独立完成.本文首先对球形运动器进行动力学建模.通过分析指出,在实际工作中,由于粘性阻尼的影响,球体的滚动角速度和单摆摆角的变化是一个渐趋稳定的过程.仿真结果证明了理论分析的正确性.接着,介绍了球形运动器控制系统的软、硬件实现.试验结果表明,所设计的球形运动器滚动迅速,转向灵活,能够完成一般性的探测任务.

     

    Abstract: The spherical robot is designed on the principle of carrying out the turning and driving motions independently.In this paper,the dynamic models of the spherical robot are developed.It is shown by analysis that ball rotation velocity and pendulum angle approach to stability due to the influence of viscous damp,which is verified by simulition.The hardware and software implementations of the spherical robot control system are introduced.The experiment shows that the spherical robot could fufill general exploration tasks with the smart steering and fast rolling.

     

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