Spherical Robot Remote Control Development

In this paper, a development of a spherical robot is considered. Actuator of the robot is an omniwheel mobile platform with three independently controlled DC motors. The mobile platform is controlled by wireless gamepad via Bluetooth connection. Controlled variables are angle around vertical axis and linear speed in global coordinate system. Setpoints for each variable are calculated in Python script on Raspberry Pi and are delivered to MCU via serial port. For purpose of observing platform condition TCP connection between Raspberry Pi and desk computer was established via Wi-Fi. Based on data sent by client on Raspberry Pi current state of the mobile platform is visualized in Matlab figure in real time.