Longitudinal Motion Controlling for a Spherical Rolling Robot with Soft Shell Based on Feedback Linearization

被引：0
|
作者：
Zhang S. [1 ,2 ]
Fang X. [1 ]
Zhao Z. [2 ]
Liu G. [2 ]
机构：
[1] Institute of Battle Engineering, PLA University of Science & Technology, Nanjing
[2] Institute of Basic Education for Cammander Cadet, PLA University of Science & Technology, Nanjing
来源：
Zhang, Sheng (zs31@21cn.com) | 2017年 / Chinese Mechanical Engineering Society卷 / 53期
关键词：
Dynamic general principle; Feedback linearization; Multi-input & multi-output; Spherical rolling robot;
D O I：
10.3901/JME.2017.03.043
中图分类号：
学科分类号：
摘要：
A controller based on feedback linearization is designed in order to make the spherical robot's longitudinal motion track the expected location considering strongly nonlinear motion of the spherical robot and the difference of flexible deformation and status of interface between rigid shell and soft shell. A dynamic model is advanced on longitudinal motion for the robot rolling with no-slip based on dynamic general principle. The conclusion is drawn that the performance of motion of the robot with soft shell is better than the rigid one according to the analysis on the dynamic model. A control algorithm based on feedback linearization is proposed applicable to the multi-input & multi-output system which ensures the robot tracking the expected angle with stable pose. The validity of the controller designed is verified by Matlab-Simulink. © 2017 Journal of Mechanical Engineering.
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页码：43 / 50
页数：7
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