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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Motion Planning for Point-to-Point Navigation of Spherical Robot Using Position Feedback
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Motion Planning for Point-to-Point Navigation of Spherical Robot Using Position Feedback

机译：基于位置反馈的球形机器人点对点导航运动规划

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摘要

Nonlinear dynamics, slip, and irregularities in the surface or the spherical hull are the major factors for errors in the spherical robot system model. We attempt a controller design based on the experimental observations on spherical robot motion and identify the primitive motions that are reliable. The objective of the controller is to use these primitive motions and position feedback to guarantee convergence to the destination position. It is shown that the robot converges to a bounded region at the destination, when the modeling and measurement errors are bounded. The control law is applied to the navigation of a pendulum type spherical robot. The proposed navigation technique is not specific to the nonlinear spherical robot model and gives advantage by using limited control commands. Experiments in indoor and outdoor settings support the theory presented in this work. Experiments also show that the proposed controller rejects disturbances due to imperfect fabrication and contact surfaces with changing frictional properties. In particular, the robot navigates to the vicinity of the destination within a known range.
机译：表面或球形外壳的非线性动力学，滑动和不规则性是造成球形机器人系统模型错误的主要因素。我们基于对球形机器人运动的实验观察尝试进行控制器设计，并确定可靠的原始运动。控制器的目的是使用这些原始运动和位置反馈来确保收敛到目标位置。结果表明，当建模和测量误差受限制时，机器人会收敛到目标位置的受限制区域。控制律适用于摆式球形机器人的导航。所提出的导航技术并非特定于非线性球形机器人模型，而是通过使用有限的控制命令而具有优势。室内和室外环境中的实验支持这项工作中提出的理论。实验还表明，所提出的控制器可以消除由于制造工艺不完善以及接触表面具有变化的摩擦性能而造成的干扰。特别地，机器人导航到已知范围内的目的地附近。

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