By Topic

Motion control of a spherical mobile robot by feedback linearization

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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