Design and Control of a Sphere Robot Using a Control Moment Gyroscope Actuator for Navigation
- PDF / 3,239,209 Bytes
- 9 Pages / 594.77 x 793.026 pts Page_size
- 96 Downloads / 268 Views
ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Design and Control of a Sphere Robot Using a Control Moment Gyroscope Actuator for Navigation Hyun Woo Kim and Seul Jung* Abstract: In this paper, the design and control of a sphere robot are presented. A small double gimbal control moment gyroscope(DGCMG) designed and analyzed as an indirect actuator for the rotational torque generation. The heading angle of the robot is controlled by a DGCMG and the driving position is controlled by DC motors. The DGCMG has been developed in a scissored-pair configuration which has two gimbals in the opposite direction to maximize the induced torque by double and cancel out the unwanted torque in the plane. Experimental studies of not only position control but also heading control of the sphere robot commanded by a joystick are conducted to demonstrate the functionality of the robot. Keywords: Control moment gyroscope, position and heading control, sphere robot.
1.
INTRODUCTION
The mobility of robots is important to navigate in their terrains. The mobility of mobile robots differs from the number of wheels. Reducing the number of wheels requires more challenging design and control by increasing the maneuverability, but by decreasing the stability at the same time. The two-wheel mobile structure has been popular for its functionality of the maneuverability in the narrow space although the pitching direction is free to fall. Many designs of two-wheel mobile robots have been presented in the literature including commercial ones [1] for the personal transportation purpose [2–9]. A single-wheel robot structure requires the most challenging design and control. There are two types of singlewheel robots, flat and sphere. The control of the flat structure of single-wheel robots is more challenging than the sphere since it can fall in a lateral direction without any control [10]. Lateral control of the flat structure has been done by reaction wheels or pendulum [11,12], control moment gyroscopes [13–18], and ducted fans [19]. The erection of the flat structured robot from a fallen state has been performed by using of CMG actuators [13, 18]. The flat structure can be stabilized with ease by forming a sphere structure that covers both lateral sides with half spheres. The sphere structure enables the robot to roll on the ground like a ball. However, the position control of sphere robots becomes a more challenging task. Since
the lateral stability is maintained by the sphere structure, control of driving and turning motions becomes important. Driving control is relatively easy compared with the turning control. Therefore, the various design configurations of generating actuation for the rolling motion have been introduced by different generation methods of rolling motions [20–25]. A simple generation way of angular momentum to the robot is to use the inverted pendulum on the guided rail. The heading direction of the robot is controlled by repositioning the inverted pendulum [20]. Lateral rotation of the inverted pendulum inside
Data Loading...
