Improvement and Evaluation for the Stability of Mobile Spherical Underwater Robots (SUR III)

This research aims to improve the collaboration ability and stability of the Spherical Underwater Robots (SUR III). According to our previous researches in last few years, the SURIII has no control stability module. This paper designed a new torque gyro control and PID control devoted to improve the stability of SUR III. In this new system, we used a gyro sensor and PID control to design a closed-loop control module to perform terrestrial underwater efficiently. Regarding the spherical robot mechanical structure and dynamic model, the robot control module is designed, and set up to complete underwater experiments. In the underwater experiment, the SUR III can stability motion. A certain offset occurs of SUR III under the disturbance of the wind. After the adjustment of the balance control module, the SUR III balance is quickly restored. In addition, it is certainly worth analyzing the underwater motion to evaluate the performance of the robot stability motion.