This paper presents a two-wheeled differential spherical mobile robot in view of the problems that the motion of spherical robot is difficult to control and the sensor is limited by the spherical shell.The robot is si...This paper presents a two-wheeled differential spherical mobile robot in view of the problems that the motion of spherical robot is difficult to control and the sensor is limited by the spherical shell.The robot is simple in structure,flexible in motion and easy to control.The kinematics and dynamics model of spherical mobile robot is established according to the structure of spherical mobile robot.On the basis of the adaptive neural sliding mode control,the trajectory tracking controller of the system is designed.During the simulation of the s-trajectory and circular trajectory tracking control of the spherical mobile robot,it is concluded that the spherical mobile robot is flexible in motion and easy to control.In addition,the simulation results show that the adaptive neural sliding mode control can effectively track the trajectory of the spherical robot.The adaptive control eliminates the influence of unknown parameters and disturbances,and avoids the jitter of left and right wheels during the torque output.展开更多
If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom （DOF） of the mechanism may be less than the resolution of position sensors. To handle...If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom （DOF） of the mechanism may be less than the resolution of position sensors. To handle this synchronization problem this paper proposes a force/position switching scheme, which partitions the two cylinders into a master cylinder and a slave cylinder. The master cylinder is always position tracking controlled by a second-order sliding mode controller and the slave cylinder is integrated with a force tracking controller which is a first order sliding mode controller. When the position tracking error is less than a given value, the slave cylinder switches to be force controlled. Two synchronization control methods are presented based on the switching scheme： the master - master ＋ force/position switching control and the master - slave ＋ force/position switching control. Simulations show that the formance compared with two given proposed synchronization control position-based control methods. methods can get a better per-展开更多
基金Foundation items:National Science and Technology Major Project(No.2011ZX05021-001)China Postdoctoral Science Foundation(No.2019M663865)。
文摘This paper presents a two-wheeled differential spherical mobile robot in view of the problems that the motion of spherical robot is difficult to control and the sensor is limited by the spherical shell.The robot is simple in structure,flexible in motion and easy to control.The kinematics and dynamics model of spherical mobile robot is established according to the structure of spherical mobile robot.On the basis of the adaptive neural sliding mode control,the trajectory tracking controller of the system is designed.During the simulation of the s-trajectory and circular trajectory tracking control of the spherical mobile robot,it is concluded that the spherical mobile robot is flexible in motion and easy to control.In addition,the simulation results show that the adaptive neural sliding mode control can effectively track the trajectory of the spherical robot.The adaptive control eliminates the influence of unknown parameters and disturbances,and avoids the jitter of left and right wheels during the torque output.
基金Supported by the Major State Basic Research Development Program of China(No.2006CB5406)Important National Science&Technology Specific Projects(No.2009ZX04002-061,2009ZX04004-102)
文摘If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom （DOF） of the mechanism may be less than the resolution of position sensors. To handle this synchronization problem this paper proposes a force/position switching scheme, which partitions the two cylinders into a master cylinder and a slave cylinder. The master cylinder is always position tracking controlled by a second-order sliding mode controller and the slave cylinder is integrated with a force tracking controller which is a first order sliding mode controller. When the position tracking error is less than a given value, the slave cylinder switches to be force controlled. Two synchronization control methods are presented based on the switching scheme： the master - master ＋ force/position switching control and the master - slave ＋ force/position switching control. Simulations show that the formance compared with two given proposed synchronization control position-based control methods. methods can get a better per-
