Type: Conference paper

LQR motion control and analysis of a prototype spherical robot

Journal: 2025 29th International Computer Conference, Computer Society of Iran, CSICC 2025 ()Year: 2014Volume: Issue: Pages: 890 - 895

Moallem P.^aMalekzadeh M.^aZadeh F.K. Asiri S.Zadeh F.K.Moallem P.^a Asiri S.Malekzadeh M.^a

a :University of Isfahan - IRAN(IR) - Isfahan

DOI:10.1109/ICRoM.2014.6991017Language: English

Abstract

This article presents the results of a study on a prototype of spherical rolling robot and proposed a linear quadratic regulator controller to stabilize the system. The dynamic model of this spherical rolling robot has been presented with 2-DOF pendulum located inside a spherical shell and considered as a plate-ball system. The motion of the system is generated with a servo motor for left and right direction and a DC motor for forward and backward motion. Dynamic equations of the system are derived based on Euler-Lagrange method. Controlling a spherical robot is a challenging problem till today due to its nature of kinematics and highly nonlinear dynamics. Accordingly, a mid loop linear quadratic regulator (LQR) has been designed using full-state feedback to control the spherical robot. Simulation and experimental test have been carried out to show the effectiveness of the proposed controller. © 2014 IEEE.

Author Keywords

decoupled dynamic Euler-LagrangeLQRpendulumspherical robot

Other Keywords

Agricultural robotsControllersDC motorsLagrange multipliersMotion analysisPendulumsSpheresState feedbackEuler-LagrangeEuler-Lagrange methodExperimental testForward-and-backwardFull state feedbackLinear quadratic regulatorLinear quadratic regulator controllersSpherical robotsRobots