Dynamic Analysis and Control System Design of the Spherical Robot

摘要

The spherical robot is designed on the principle of carrying out the turning and driving motions independently.In this paper,the dynamic models of the spherical robot are developed.It is shown by analysis that ball rotation velocity and pendulum angle approach to stability due to the influence of viscous damp,which is verified by simulition.The hardware and software implementations of the spherical robot control system are introduced.The experiment shows that the spherical robot could fufill general exploration tasks with the smart steering and fast rolling.