球形机器人动力学建模与运动控制设计

Dynamical Modelling and Motion Control Design of Spherical Robot

将球形机器人用作电缆通道移动无线传感网的移动节点,研究一种双轮驱动球形机器人的动力学与运动控制。通过选择左驱动车轮和右驱动车轮的转角、球形机器人的移动距离、驱动车体的姿态角作为广义坐标,基于拉格朗日方程建立机器人系统的动力学模型;基于PI控制设计球形机器人直线运动的速度和位置闭环控制器,结合球形机器人自身可实现零半径转向,实现对球形机器人平面运动的闭环控制。通过开环仿真试验验证模型的正确性;闭环仿真结果表明所设计的控制器能够有效实现球形机器人的运动控制。

The spherical robot is used as the mobile node of cable channel mobile wireless sensor network,dynamics and motion control of spherical robot driven by two wheels are studied. By selecting angle of left driven-wheel,angle of right driven-wheel,motion distance,and posture angle of inner driven body as general coordinates,dynamical model of robot system is derived based on Lagrange equations. Velocity and position PI controllers for linear motion of spherical robot are designed respectively. Combining with the spherical robot itself,the zero radius steering can be realized,and the closed-loop control of planar motion of spherical robot can be realized. Simulation results based on open-loop control validate the correctness of the derived dynamical model. Closed-loop simulation results show that the designed controller can effectively realize the motion control of spherical robot.