Author:
Lin Rui,Huo Jianwen,Yang Xin,Wang Qiguan,Yang Ruilin,Xu Jinfei
Abstract
AbstractThe spherical robot XK-III, designed with redundant degrees of freedom, addresses the limitations of existing pendulum spherical robot structures by enhancing mobility and environmental adaptability. A nonlinear dynamic model is developed for XK-III’s new drive structure, along with a nonlinear disturbance observer (NDOB) to mitigate perturbations. Additionally, a Fuzzy PID controller (FPID) is implemented to further enhance XK-III’s environmental adaptability. Experimental results confirm the effectiveness of the new design, showing that XK-III equipped with FPID and NDOB outperforms traditional control systems in terms of anti-disturbance capabilities. This research provides valuable insights for the use of spherical robots in complex environments.
Publisher
Springer Science and Business Media LLC
Reference38 articles.
1. Bujňák, M., Pirník, R., Rástočnỳ, K., Janota, A., Nemec, D., Kuchár, P., Tichỳ, T., Łukasik, Z.: Spherical robots for special purposes: a review on current possibilities. Sensors 22(4), 1413 (2022)
2. Mukherjee, R., Minor, M.A., Pukrushpan, J.T.: Simple motion planning strategies for spherobot: a spherical mobile robot. In: Proceedings of the 38th IEEE conference on decision and control (Cat. No. 99CH36304), IEEE, vol. 3, pp. 2132–2137 (1999)
3. Asiri, S., Khademianzadeh, F., Monadjemi, A., Moallem, P.: The design and development of a dynamic model of a low-power consumption, two-pendulum spherical robot. IEEE/ASME Trans. Mechatron. 24(5), 2406–2415 (2019)
4. Mahboubi, S., Seyyed Fakhrabadi, M.M., Ghanbari, A.: Design and implementation of a novel spherical mobile robot. J. Int. Robot. Syst. 71, 43–64 (2013)
5. Alexey, B., Alexander, K., Yury, K., Anton, K.: Stabilization of the motion of a spherical robot using feedbacks. Appl. Math. Model. 69, 583–592 (2019)