Volume 20, Issue 3 (March 2020)
Modares Mechanical Engineering 2020, 20(3): 659-667 |
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Aalipour M, Mokhtarian A, Karimpour H. Dynamic Analysis and Motion Control of a Spherical Robot on Non-Flat Surfaces. Modares Mechanical Engineering 2020; 20 (3) :659-667
URL: http://mme.modares.ac.ir/article-15-22683-en.html
URL: http://mme.modares.ac.ir/article-15-22683-en.html
1- Mechanical Engineering Department, Mechanical Engineering Faculty, Khomeinishahr Branch, Islamic Azad University, Khomeinishahr, Iran
2- Mechanical Engineering Department, Mechanical Engineering Faculty, Khomeinishahr Branch, Islamic Azad University, Khomeinishahr, Iran , mokhtarian@iaukhsh.ac.ir
3- Mechanical Engineering Department, Engineering Faculty, University of Isfahan, Isfahan, Iran
2- Mechanical Engineering Department, Mechanical Engineering Faculty, Khomeinishahr Branch, Islamic Azad University, Khomeinishahr, Iran , mokhtarian@iaukhsh.ac.ir
3- Mechanical Engineering Department, Engineering Faculty, University of Isfahan, Isfahan, Iran
Abstract: (4588 Views)
Spherical robots are the mobile robots with spherical shapes equipped to an internal drive mechanism that moves on the ground due to their external shell rolling. In this research, first, a pendulum spherical robot is modeled, then using the Lagrange method, dynamic equations of plane motion of robot on the non-flat surface are derived. Considering the scarcity of the number of operators relative to the number of degrees of freedom of the spherical robot, designing of a non-linear controller is performed based on feedback linearization techniques. Therefore, regarding non-confirm initial conditions on the trajectory, parametric uncertainty and disturbance torque on the robot, the performance of the system has been investigated. By selecting the appropriate rotation trajectory, the robot motion is simulated in MATLAB software and in following the pendulum rotation angle and actuating torque are obtained. The results indicate that the designed controller has proper and resistant performance in tracking selected trajectory for sphere shell rotation during moving on a non-flat surface.
Keywords: Spherical Robot, Non-Flat Surface, Motion Equations, Non-Linear Control, Parametric Uncertainty
Article Type: Original Research |
Subject:
Robotic
Received: 2018/07/13 | Accepted: 2019/06/23 | Published: 2020/03/1
Received: 2018/07/13 | Accepted: 2019/06/23 | Published: 2020/03/1
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