One-dimensional attitude control for BIT flying Robot

Tao Zheng; Yunqi Liu; Long Li; Hui Li; Marco Ceccarelli

doi:10.1109/ARSO46408.2019.8948732

One-dimensional attitude control for BIT flying Robot

Tao Zheng, Yunqi Liu, Long Li, Hui Li, Marco Ceccarelli

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A flying space spherical robot (SSR) with a maximum diameter of 90mm is designed to assist astronauts in detecting and troubleshooting in small spaces of space stations. Flywheels on three faces of frame are used to generate torque through accelerated rotating motion, so that SSR rotates reversely. In this paper, one-dimensional dynamic model of SSR is presented as referring to a small size design for space applications. Ground experiments simulating zero gravity were carried out to verify the effectiveness of the dynamic model and system operation. Results of lab tests show the feasibility of the BIT flying robot by using the proposed dynamic model for its controlled operation.

Original language	English
Title of host publication	2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Publisher	IEEE Computer Society
Pages	134-140
Number of pages	7
ISBN (Electronic)	9781728131764
DOIs	https://doi.org/10.1109/ARSO46408.2019.8948732
Publication status	Published - Oct 2019
Event	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, China Duration: 31 Oct 2019 → 2 Nov 2019

Publication series

Name	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Volume	2019-October
ISSN (Print)	2162-7568
ISSN (Electronic)	2162-7576

Conference

Conference	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Country/Territory	China
City	Beijing
Period	31/10/19 → 2/11/19

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10.1109/ARSO46408.2019.8948732

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Zheng, T., Liu, Y., Li, L., Li, H., & Ceccarelli, M. (2019). One-dimensional attitude control for BIT flying Robot. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 (pp. 134-140). Article 8948732 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/ARSO46408.2019.8948732

@inproceedings{7ab87e56b088472e947fae188284b395,

title = "One-dimensional attitude control for BIT flying Robot",

abstract = "A flying space spherical robot (SSR) with a maximum diameter of 90mm is designed to assist astronauts in detecting and troubleshooting in small spaces of space stations. Flywheels on three faces of frame are used to generate torque through accelerated rotating motion, so that SSR rotates reversely. In this paper, one-dimensional dynamic model of SSR is presented as referring to a small size design for space applications. Ground experiments simulating zero gravity were carried out to verify the effectiveness of the dynamic model and system operation. Results of lab tests show the feasibility of the BIT flying robot by using the proposed dynamic model for its controlled operation.",

author = "Tao Zheng and Yunqi Liu and Long Li and Hui Li and Marco Ceccarelli",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 ; Conference date: 31-10-2019 Through 02-11-2019",

year = "2019",

month = oct,

doi = "10.1109/ARSO46408.2019.8948732",

language = "English",

series = "Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO",

publisher = "IEEE Computer Society",

pages = "134--140",

booktitle = "2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019",

address = "United States",

}

Zheng, T, Liu, Y, Li, L, Li, H & Ceccarelli, M 2019, One-dimensional attitude control for BIT flying Robot. in 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019., 8948732, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, vol. 2019-October, IEEE Computer Society, pp. 134-140, 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019, Beijing, China, 31/10/19. https://doi.org/10.1109/ARSO46408.2019.8948732

One-dimensional attitude control for BIT flying Robot. / Zheng, Tao; Liu, Yunqi; Li, Long et al.
2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society, 2019. p. 134-140 8948732 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - A flying space spherical robot (SSR) with a maximum diameter of 90mm is designed to assist astronauts in detecting and troubleshooting in small spaces of space stations. Flywheels on three faces of frame are used to generate torque through accelerated rotating motion, so that SSR rotates reversely. In this paper, one-dimensional dynamic model of SSR is presented as referring to a small size design for space applications. Ground experiments simulating zero gravity were carried out to verify the effectiveness of the dynamic model and system operation. Results of lab tests show the feasibility of the BIT flying robot by using the proposed dynamic model for its controlled operation.

AB - A flying space spherical robot (SSR) with a maximum diameter of 90mm is designed to assist astronauts in detecting and troubleshooting in small spaces of space stations. Flywheels on three faces of frame are used to generate torque through accelerated rotating motion, so that SSR rotates reversely. In this paper, one-dimensional dynamic model of SSR is presented as referring to a small size design for space applications. Ground experiments simulating zero gravity were carried out to verify the effectiveness of the dynamic model and system operation. Results of lab tests show the feasibility of the BIT flying robot by using the proposed dynamic model for its controlled operation.

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M3 - Conference contribution

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T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO

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Y2 - 31 October 2019 through 2 November 2019

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One-dimensional attitude control for BIT flying Robot

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