DeepAI
Log In Sign Up

Design, Modeling, and Control of Norma: a Slider & Pendulum-Driven Spherical Robot

08/06/2019
by   SM, et al.
0

This paper discusses the design, modeling, and control of Norma, a novel 2 DOF mobile spherical robot (SR). The propelling mechanism of this robot consists of two actuators: a slider, and a rotational pendulum located on the SR's diagonal shaft. The slider can translate along the shaft and shift the robot's center of gravity towards the robot's sides. The pendulum rotates around the shaft to propel the SR to roll forward and backward. These two actuators enable the SR to perform both rolling and turning maneuvers as a nonholonomic robot. The advantage of the proposed mechanical design lies in its convenience of physical implementation, agility, and accurate mathematical model. The Euler Lagrange approach is utilized to derive the dynamics of the proposed mechanical structure using minimum simplifications possible. Further, a path tracking control scheme is introduced for a smooth trajectory. Finally, simulations are carried out in MATLAB to verify the accuracy of the mathematical model and the effectiveness of the controller against experimental results.

READ FULL TEXT

page 3

page 12

page 13

06/12/2019

Kinematics of Spherical Robots Rolling Over 3D Terrains

Although the kinematics and dynamics of spherical robots (SRs) on flat h...
01/10/2018

Design, Analysis & Prototyping of a Semi-Automated Staircase-Climbing Rehabilitation Robot

In this paper, we describe the mechanical design, system overview, integ...
01/06/2020

Bionic Sea Urchin Robot with Foldable Telescopic Actuator

This paper presents a couple of interesting ideas: a telescopic actuator...
01/16/2023

Wobble control of a pendulum actuated spherical robot

Spherical robots can conduct surveillance in hostile, cluttered environm...
01/23/2020

Autonomous Control of a Line Follower Robot Using a Q-Learning Controller

In this paper, a MIMO simulated annealing SA based Q learning method is ...