XK-III: A Spherical Robot with Redundant Degrees of Freedom

被引：0

作者：

Lin, Rui ^{[1
]}

Huo, Jianwen ^{[1
]}

Yang, Xin ^{[1
]}

Wang, Qiguan ^{[1
]}

Yang, Ruilin ^{[1
]}

Xu, Jinfei ^{[2
]}

机构：

[1] Southwest Univ Sci & Technol, Coll Informat Engn, 59 Qinglong Ave, Mianyang 621010, Sichuan, Peoples R China

[2] Beijing Guoke Junrong Innovat Technol Ltd Co, 10 Ronghua Middle Rd, Beijing 100176, Peoples R China

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2024年 / 110卷 / 03期

关键词：

Spherical robot; Disturbance observer; Three degree of freedom; Omnidirectional movement; NONLINEAR DISTURBANCE OBSERVER; DESIGN;

D O I：

10.1007/s10846-024-02121-3

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The spherical robot XK-III, designed with redundant degrees of freedom, addresses the limitations of existing pendulum spherical robot structures by enhancing mobility and environmental adaptability. A nonlinear dynamic model is developed for XK-III's new drive structure, along with a nonlinear disturbance observer (NDOB) to mitigate perturbations. Additionally, a Fuzzy PID controller (FPID) is implemented to further enhance XK-III's environmental adaptability. Experimental results confirm the effectiveness of the new design, showing that XK-III equipped with FPID and NDOB outperforms traditional control systems in terms of anti-disturbance capabilities. This research provides valuable insights for the use of spherical robots in complex environments.

引用

页数：14

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