双偏心块驱动球形机器人原地转向运动控制

摘要

Considering the turning in place motion as an independent motion which can enhance the mobility of spherical robot, a turning in place motion control method of two pendulums driven spherical robot is studied. First, the mechanism characteristics of two pendulums driven spherical robot are introduced, and then the force condition of turning in place motion is analyzed based on D~alembertg principle and the motion principle of turning in place motion of two pendulums driven spherical robot is discussed, finally, the dynamic model of turning in place motion is constructed. The whole process of turning in place motion is divided into three stages which are startup stage, stick stage and slip stage respectively, and a stick-slip principle for turning in place motion control is proposed. The effectiveness of the control method is validated by both simulation and prototype experiment.%为了提高球形机器人的运动性能，将原地转向运动作为一种独立的运动方式，研究了一种双偏心质量块驱动球形机器人的原地转向运动控制方法．介绍了双偏心质量块驱动球形机器入的机构特点，利用达朗伯原理对机器人进行受力分析，阐述了双偏心质量块驱动球形机器人原地转向运动原理，建立了机器人的原地转向动力学模型．将原地转向运动分为起始、粘滞、滑移3个阶段，提出了一种基于粘滑原理的球形机器人原地转向控制方法，并通过仿真和样机实验验证了控制方法的有效性．