DocumentCode :
2477883
Title :
Motion control of a spherical mobile robot by feedback linearization
Author :
Liu, Daliang ; Sun, Hanxv ; Jia, Qingxuan ; Wang, Liangqing
Author_Institution :
Dept. of Automations, Beijing Univ. of Posts & Telecommun., Beijing
fYear :
2008
fDate :
25-27 June 2008
Firstpage :
965
Lastpage :
970
Abstract :
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.
Keywords :
PI control; feedback; linearisation techniques; mobile robots; motion control; BYQ-III robot; PI control; actuator mechanism; feedback linearization; linear feedback control; motion control; spherical mobile robot; Adaptive control; Aerodynamics; Automatic control; Equations; Feedback; Friction; Mobile robots; Motion control; Motion planning; Robotics and automation; Feedback Linearization; Motion Control; Spherical Mobile Robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
Type :
conf
DOI :
10.1109/WCICA.2008.4593051
Filename :
4593051
Link To Document :
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