Research on the Trajectory Tracking Control of a Swinging Spherical Robot

The spherical robot was a kind of mobile robot which used the spherical shell to roll to realize its own motion. It had the characteristics of a small turning radius and omnidirectional motion. Besides the structure of the spherical robot was multitudinous, a kind of two degrees of freedom of the oscillating XK-II spherical robot was designed in this paper. Likewise, the motion principle and the structure of the XK-II spherical robot were introduced in this paper. The relation of speed vector projection and the description method of Euler Angle were used in the paper to establish the two inputs and five outputs kinematics equation of the XK-II type spherical robot. Then, the kinematics equation was solved by using the four order-five order Runge-Kutta algorithm, at the same time, the trajectory tracking controller of line, roundness, sinusoid and Lissajous figures were designed by combining PID. Finally, the kinematics model was validated by simulation and real experiment, and the trajectory tracking control of the spherical robot was realized effectively.