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Motion control of a spherical mobile robot by feedback linearization

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4 Author(s)
Daliang Liu ; Dept. of Automations, Beijing Univ. of Posts & Telecommun., Beijing ; Hanxv Sun ; Qingxuan Jia ; Liangqing Wang

BYQ-III is a spherical mobile robot. This paper deals with the problem of its simple motion control in a fixed motion mode. The robot BYQ-III is designed to be partially self-contained. A simplified dynamic model of the rotation motion in the median sagital plane is derived under some assumptions. A full-state linear feedback controller for the dynamic model and a PI controller are designed to implement the motion control in the median coronal plane and the sagital plane respectively. The model and the controllers were validated through a set of experiments. Experimental trajectories for a circle of the robot on the plane were found to agree to a reasonable accuracy. The overall design, actuator mechanism, control system, and initial results are presented in this paper.

Published in:
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Date of Conference: 25-27 June 2008

Page(s):
965 - 970
E-ISBN :
978-1-4244-2114-5
Print ISBN:
978-1-4244-2113-8
INSPEC Accession Number:
10344401
Conference Location :
Chongqing
Digital Object Identifier :
10.1109/WCICA.2008.4593051
Product Type:
Conference Publications

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