Jia Qingxuan, Zheng Yili, Sun Hanxu, Cao Hongyu, L. Hongyi
{"title":"新型飞轮球形机器人的运动控制","authors":"Jia Qingxuan, Zheng Yili, Sun Hanxu, Cao Hongyu, L. Hongyi","doi":"10.1109/ICINFA.2009.5205045","DOIUrl":null,"url":null,"abstract":"An omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented, the gyroscopic effects of high-rate flywheel can further enhance the dynamic stability of the spherical robot. This robot is designed for territory or lunar exploration in the future. The mechanical structure and control system of the robot are given particularly. Using the constrained Lagrangian method, the simplified dynamic model of the robot is derived under some assumptions, Moreover, a Linear Quadratic Regulator (LQR) controller and Percentage Derivative (PD) controller are designed to implement the pose and velocity control of the robot respectively, Finally, the dynamic model and the controllers are validated through simulation study and prototype experiment.","PeriodicalId":223425,"journal":{"name":"2009 International Conference on Information and Automation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"27","resultStr":"{\"title\":\"Motion control of a novel spherical robot equipped with a flywheel\",\"authors\":\"Jia Qingxuan, Zheng Yili, Sun Hanxu, Cao Hongyu, L. Hongyi\",\"doi\":\"10.1109/ICINFA.2009.5205045\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented, the gyroscopic effects of high-rate flywheel can further enhance the dynamic stability of the spherical robot. This robot is designed for territory or lunar exploration in the future. The mechanical structure and control system of the robot are given particularly. Using the constrained Lagrangian method, the simplified dynamic model of the robot is derived under some assumptions, Moreover, a Linear Quadratic Regulator (LQR) controller and Percentage Derivative (PD) controller are designed to implement the pose and velocity control of the robot respectively, Finally, the dynamic model and the controllers are validated through simulation study and prototype experiment.\",\"PeriodicalId\":223425,\"journal\":{\"name\":\"2009 International Conference on Information and Automation\",\"volume\":\"17 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-06-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"27\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 International Conference on Information and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICINFA.2009.5205045\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 International Conference on Information and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICINFA.2009.5205045","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Motion control of a novel spherical robot equipped with a flywheel
An omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented, the gyroscopic effects of high-rate flywheel can further enhance the dynamic stability of the spherical robot. This robot is designed for territory or lunar exploration in the future. The mechanical structure and control system of the robot are given particularly. Using the constrained Lagrangian method, the simplified dynamic model of the robot is derived under some assumptions, Moreover, a Linear Quadratic Regulator (LQR) controller and Percentage Derivative (PD) controller are designed to implement the pose and velocity control of the robot respectively, Finally, the dynamic model and the controllers are validated through simulation study and prototype experiment.
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