Dynamic Modeling and Controller Design for a Spherical Rolling Robot Equipped With a Gyro

In this paper, we derive a dynamic model of a spherical rolling robot that has a new driving mechanism equipped with a gyro and design a controller to stabilize a desired translational motion of the robot. Due to the angular momentum of the gyro, nutation motion of the internal mechanism of the robo...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2016-09, Vol.24 (5), p.1669-1679
Main Authors: Urakubo, Takateru, Monno, Mamoru, Maekawa, Satoshi, Tamaki, Hisashi
Format: Article
Language:English
Subjects:
Angular momentum
Angular velocity
Asymptotic properties
Collision avoidance
Controllers
Damping
DC motors
Design engineering
Dynamics
Gyroscopic effect
Lyapunov method
Mobile robots
nonlinear control
Nutation
nutation damping
Robots
Torque
Translational motion
underactuated system
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Summary:In this paper, we derive a dynamic model of a spherical rolling robot that has a new driving mechanism equipped with a gyro and design a controller to stabilize a desired translational motion of the robot. Due to the angular momentum of the gyro, nutation motion of the internal mechanism of the robot may be caused. A feedback controller is designed to achieve the stabilization to a straight motion of the robot and nutation damping in the internal mechanism simultaneously. The asymptotic stability is proved using a Lyapunov function, and the effectiveness of the controller is verified by experiments. The controller is also successfully applied to other translational motions such as a circular motion and a meandering motion.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2015.2508008