Dynamics Analysis and Control Method of a Novel Spherical Robot

摘要

A novel omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented; the mechanical structure of the robot are given, and the gyroscopic effects of high-rate flywheel can improve the dynamic stability of the robot. The simplified dynamic model of the robot is derived based on the constrained Lagrangian method. Moreover, a Linear Quadratic Regulator (LQR) controller and a Percentage Derivative (PD) controller are designed to implement the pose and velocity control of the robot respectively, Finally, the control method are validated through continuous circle motion experiment. This robot is designed for territory or lunar exploration in the future.