Motion control system and method for spherical robot in complex environment

Motion control system and method for spherical robot in complex environment

The invention discloses a motion control system and method for a spherical robot in a complex environment, and the system comprises a limit angle estimation subsystem which is used for calculating a limit pendulum bob angle and a limit climbing angle when the spherical robot moves; the pendulum bob...

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Hauptverfasser: HUO JIANWEN, LU YUZHOU, LIN RUI, WANG QIGUAN, LU CHUNMEI
Format: Patent
Sprache:chi ; eng
Schlagworte:
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PHYSICS
REGULATING
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creator HUO JIANWEN
LU YUZHOU
LIN RUI
WANG QIGUAN
LU CHUNMEI
description The invention discloses a motion control system and method for a spherical robot in a complex environment, and the system comprises a limit angle estimation subsystem which is used for calculating a limit pendulum bob angle and a limit climbing angle when the spherical robot moves; the pendulum bob control subsystem is used for generating motion control information through a backstepping control law and a parameter adaptive adjustment law according to the motion environment parameters, the limit pendulum bob angle and the limit climbing angle so as to control the spherical robot to move in a complex environment; wherein the complex environment comprises a climbing road surface and a rugged road surface; control support is provided for the spherical robot to move on the slope, and the control problem of the spherical robot to move on the slope is solved; a similar climbing motion control method is provided for the motion process of the spherical robot on a rugged road surface, and the motion difficulty of the
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subjects CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PHYSICS
REGULATING
title Motion control system and method for spherical robot in complex environment
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