Design, analysis and experiments of an omni-directional spherical robot

Author

Zhan, Qiang ; Cai, Yao ; Yan, Caixia

Author_Institution

Robot. Inst., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China

fYear

2011

fDate

9-13 May 2011

Firstpage

4921

Lastpage

4926

Abstract

This paper presents a novel design of an omni-directional spherical robot that is mainly composed of a lucent ball-shaped shell and an internal driving unit. Two motors installed on the internal driving unit are used to realize the omni-directional motion of the robot, one motor is used to make the robot move straight and another is used to make it steer. Its motion analysis, kinematics modeling and controllability analysis are presented. Two typical motion simulations show that the unevenness of ground has big influence on the open-loop trajectory tracking of the robot. At last, motion performance of this spherical robot in several typical environments is presented with prototype experiments.

Keywords

controllability; mobile robots; open loop systems; position control; prototypes; robot kinematics; shells (structures); tracking; controllability analysis; internal driving unit; kinematic modeling; lucent ball shaped shell; motion analysis; omnidirectional spherical robot design; open loop trajectory tracking; prototype experiments; Equations; Mathematical model; Mobile robots; Robot kinematics; Trajectory; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5980491

Filename

5980491