Spherical robot driving system and control method thereof

Abstract

The invention designs a spherical robot driving system. The horizontal angle of a rolling shaft in a vertical plane is adjusted to control steering, the rolling shaft can be characterized by virtue of one variable, namely the horizontal angle of the rolling shaft, so that a control model is only internally provided with two variables, namely the horizontal angle and the rotation speed of a driving motor, and a control strategy can be determined with no need of complicated operation. Aiming at the path tracking problem, a relative curvature radius conception is introduced as a steering control index; by virtue of the unique existence theorem of a plane curve in the differential geometry, the relative curvature radiuses of the track and the path in corresponding points are consistent by virtue of changing the horizontal angle of the rolling shaft, so that the path tracking is realized; and according to the spherical robot driving system and a control strategy thereof provided by the invention, the motion state does not need to be determined by a measurement sensor, and control is carried out by virtue of calculating the track arc length according to the running time.

Description

technical field [0001] The invention relates to a spherical robot driving system and a control method thereof. Background technique [0002] Spherical robot is a new type of robot, all parts are encapsulated in a spherical shell, novel and unique in shape, flexible in action, and can easily achieve zero-radius turning, and has broad application prospects in industry, civil and military. It has attracted the attention of researchers and engineers from all over the world, and it is one of the hot issues in the field of intelligent robot research. [0003] The research of spherical robot focuses on two aspects of driving device and control strategy. In terms of thruster devices, there are currently single-wheel drive, trolley drive, universal wheel drive, motor stator reverse drive and counterweight drive. The driving methods of these spherical robots have their own characteristics, and all of them can realize the rolling of the sphere, but they face great difficulties in the...

AI Technical Summary

Problems solved by technology

As a theoretical analysis, the use of Euler angles is understandable, but the measurement of Euler angles in the control process is quite difficult, at least more, more complex, and more accurate sensors are needed for measurement, which not only increases the manufacturing cost, but also increases the cost. Increased the weight and volume of the spherical robot

Secondly, the introduction of Euler angles makes the control model quite complicated. Many research results show that this is a high-order nonlinear differential equation system, and its analytical solution cannot be obtained at all. However, even if the numerical solution can be obtained, it will take a long time. time, thus unable to meet the needs of practical applications

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