Development and Control of a Real Spherical Robot
Author:
Schröder Karla1, Garcia Gonzalo1ORCID, Chacón Roberto1, Montenegro Guelis2, Marroquín Alberto1ORCID, Farias Gonzalo1ORCID, Dormido-Canto Sebastián3ORCID, Fabregas Ernesto3ORCID
Affiliation:
1. Escuela de Ingeniería Eléctrica, Pontificia Universidad Católica de Valparaíso, Av. Brasil 2147, Valparaíso 2362804, Chile 2. Departamento de Electrotecnia e Informática, Universidad Técnica Federico Santa María, Av. Federico Santa María 6090, Viña del Mar 2520001, Chile 3. Departamento de Informática y Automática, Universidad Nacional de Educación a Distancia, Juan del Rosal 16, 28040 Madrid, Spain
Abstract
This paper presents the design and implementation of a spherical robot with an internal mechanism based on a pendulum. The design is based on significant improvements made, including an electronics upgrade, to a previous robot prototype developed in our laboratory. Such modifications do not significantly impact its corresponding simulation model previously developed in CoppeliaSim, so it can be used with minor modifications. The robot is incorporated into a real test platform designed and built for this purpose. As part of the incorporation of the robot into the platform, software codes are made to detect its position and orientation, using the system SwisTrack, to control its position and speed. This implementation allows successful testing of control algorithms previously developed by the authors for other robots such as Villela, the Integral Proportional Controller, and Reinforcement Learning.
Funder
Chilean Research and Development Agency National University of Distance Education Ministry of Science and Innovation of Spain
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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