Motion Direction Control of a Spherical Robot

Lufeng Zhang; Xuemei Ren

doi:10.1007/978-981-16-6320-8_81

Motion Direction Control of a Spherical Robot

Lufeng Zhang, Xuemei Ren^*

^*此作品的通讯作者

自动化学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

This paper presents a new spherical robot design with pendulum driven mechanism. First of all, the detailed structure and how the spherical robot works are introduced. Then, the turning radius range of the spherical robot is researched. Next, based on Newton-Eulers law, the dynamic model equation of the spherical robot on left-right plane is derived. To control the robot to move forward, a RBF neural network based sliding mode controller (NN-SMC) is designed. Finally, the effectiveness of proposed controller is verified through simulations in Matlab software based on the designed spherical robot.

源语言	英语
主期刊名	Proceedings of 2021 Chinese Intelligent Systems Conference
编辑	Yingmin Jia, Weicun Zhang, Yongling Fu, Zhiyuan Yu, Song Zheng
出版商	Springer Science and Business Media Deutschland GmbH
页	786-793
页数	8
ISBN（印刷版）	9789811663192
DOI	https://doi.org/10.1007/978-981-16-6320-8_81
出版状态	已出版 - 2022
活动	17th Chinese Intelligent Systems Conference, CISC 2021 - Fuzhou, 中国期限: 16 10月 2021 → 17 10月 2021

出版系列

姓名	Lecture Notes in Electrical Engineering
卷	805 LNEE
ISSN（印刷版）	1876-1100
ISSN（电子版）	1876-1119

会议

会议	17th Chinese Intelligent Systems Conference, CISC 2021
国家/地区	中国
市	Fuzhou
时期	16/10/21 → 17/10/21

访问文件

10.1007/978-981-16-6320-8_81

其它文件与链接

链接到 Scopus 的出版物

引用此

Zhang, L., & Ren, X. (2022). Motion Direction Control of a Spherical Robot. 在 Y. Jia, W. Zhang, Y. Fu, Z. Yu, & S. Zheng (编辑), Proceedings of 2021 Chinese Intelligent Systems Conference (页码 786-793). (Lecture Notes in Electrical Engineering; 卷 805 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-16-6320-8_81

@inproceedings{0dbe5209b64241afbb931d52f7407679,

title = "Motion Direction Control of a Spherical Robot",

abstract = "This paper presents a new spherical robot design with pendulum driven mechanism. First of all, the detailed structure and how the spherical robot works are introduced. Then, the turning radius range of the spherical robot is researched. Next, based on Newton-Eulers law, the dynamic model equation of the spherical robot on left-right plane is derived. To control the robot to move forward, a RBF neural network based sliding mode controller (NN-SMC) is designed. Finally, the effectiveness of proposed controller is verified through simulations in Matlab software based on the designed spherical robot.",

keywords = "Motion direction, NN-SMC, Spherical robot, Turning radius",

author = "Lufeng Zhang and Xuemei Ren",

note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 17th Chinese Intelligent Systems Conference, CISC 2021 ; Conference date: 16-10-2021 Through 17-10-2021",

year = "2022",

doi = "10.1007/978-981-16-6320-8_81",

language = "English",

isbn = "9789811663192",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "786--793",

editor = "Yingmin Jia and Weicun Zhang and Yongling Fu and Zhiyuan Yu and Song Zheng",

booktitle = "Proceedings of 2021 Chinese Intelligent Systems Conference",

address = "Germany",

}

Zhang, L & Ren, X 2022, Motion Direction Control of a Spherical Robot. 在 Y Jia, W Zhang, Y Fu, Z Yu & S Zheng (编辑), Proceedings of 2021 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, 卷 805 LNEE, Springer Science and Business Media Deutschland GmbH, 页码 786-793, 17th Chinese Intelligent Systems Conference, CISC 2021, Fuzhou, 中国, 16/10/21. https://doi.org/10.1007/978-981-16-6320-8_81

Motion Direction Control of a Spherical Robot. / Zhang, Lufeng; Ren, Xuemei.
Proceedings of 2021 Chinese Intelligent Systems Conference. 编辑 / Yingmin Jia; Weicun Zhang; Yongling Fu; Zhiyuan Yu; Song Zheng. Springer Science and Business Media Deutschland GmbH, 2022. 页码 786-793 (Lecture Notes in Electrical Engineering; 卷 805 LNEE).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Motion Direction Control of a Spherical Robot

AU - Zhang, Lufeng

AU - Ren, Xuemei

PY - 2022

Y1 - 2022

N2 - This paper presents a new spherical robot design with pendulum driven mechanism. First of all, the detailed structure and how the spherical robot works are introduced. Then, the turning radius range of the spherical robot is researched. Next, based on Newton-Eulers law, the dynamic model equation of the spherical robot on left-right plane is derived. To control the robot to move forward, a RBF neural network based sliding mode controller (NN-SMC) is designed. Finally, the effectiveness of proposed controller is verified through simulations in Matlab software based on the designed spherical robot.

AB - This paper presents a new spherical robot design with pendulum driven mechanism. First of all, the detailed structure and how the spherical robot works are introduced. Then, the turning radius range of the spherical robot is researched. Next, based on Newton-Eulers law, the dynamic model equation of the spherical robot on left-right plane is derived. To control the robot to move forward, a RBF neural network based sliding mode controller (NN-SMC) is designed. Finally, the effectiveness of proposed controller is verified through simulations in Matlab software based on the designed spherical robot.

KW - Motion direction

KW - NN-SMC

KW - Spherical robot

KW - Turning radius

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U2 - 10.1007/978-981-16-6320-8_81

DO - 10.1007/978-981-16-6320-8_81

M3 - Conference contribution

AN - SCOPUS:85117933513

SN - 9789811663192

T3 - Lecture Notes in Electrical Engineering

SP - 786

EP - 793

BT - Proceedings of 2021 Chinese Intelligent Systems Conference

A2 - Jia, Yingmin

A2 - Zhang, Weicun

A2 - Fu, Yongling

A2 - Yu, Zhiyuan

A2 - Zheng, Song

PB - Springer Science and Business Media Deutschland GmbH

T2 - 17th Chinese Intelligent Systems Conference, CISC 2021

Y2 - 16 October 2021 through 17 October 2021

ER -

Motion Direction Control of a Spherical Robot

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