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Proceedings Paper

The dynamic analysis and control strategy of spherical robot with telescopic manipulator
Author(s): Hanxu Sun; Yili Zheng; Qingxuan Jia; Chengkun Shi
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Paper Abstract

In this paper, the mechanical structure, dynamic model and control strategy of an omni-directional rolling spherical robot with a telescopic manipulator (BYQ-IV) are discussed in particular. The structure of the whole robot is included of the motion driving part, the manipulator part and the stability maintain part. The simplified dynamic model of the motion driving part is formed by the Kane method. Moreover, the distribute control system of the robot based on ARM processor and wireless communication system are introduced and the software architecture of control system is analyzed. This robot is designed for territory or lunar exploration. It not only has features like straight line motion, circular motion, zero turning radius and obstacle avoidance, but also is able to accomplish tasks such as stably grabbing and delivering assemblies. The experiment shows that the prototype of the spherical robot with telescopic manipulator can stably grasp a static target and carry it to a new location.

Paper Details

Date Published: 8 May 2009
PDF: 11 pages
Proc. SPIE 7331, Space Exploration Technologies II, 73310C (8 May 2009); doi: 10.1117/12.818306
Show Author Affiliations
Hanxu Sun, Beijing Univ. of Posts and Telecommunications (China)
Yili Zheng, Beijing Univ. of Posts and Telecommunications (China)
Qingxuan Jia, Beijing Univ. of Posts and Telecommunications (China)
Chengkun Shi, Beijing Univ. of Posts and Telecommunications (China)


Published in SPIE Proceedings Vol. 7331:
Space Exploration Technologies II
Wolfgang Fink, Editor(s)

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