Design, construction and control of a spherical rolling robot with internal two-wheel cart
DOI:
https://doi.org/10.7494/automat.2015.19.2.63Keywords:
spherical robot, sphere, mobile robot, Lagrange, internal two-wheel cart, robot sferyczny, sfera, robot mobilny, dwukołowy wózekAbstract
This elaboration presents a spherical rolling robot with a 2-wheel cart. The custom design of the hardware and control software is presented to demonstrate the solution. The robot was started to realize an autonomous task. The embedded robot control system is based on a 32-bit microcontroller and uses a Bluetooth module for wireless communication. The simplified model has been proposed and its parameters identified. The results obtained at the simulation and experimental stages are shown and compared. Finally, the robot’s motion was recorded and analyzed with the support of image signal processing techniques.
W artykule przedstawiony został opis sferycznego robota mobilnego z napędem w postaci dwukołowego wózka. Praca prezentuje dedykowany układ mechaniczny, elektroniczny oraz oprogramowanie sterujące. System wbudowany robota jest oparty na 32-bitowym mikrokontrolerze oraz wykorzystuje bezprzewodową komunikację Bluetooth. Parametry uproszczonego modelu matematycznego robota sferycznego zostały zidentyfikowane, a wyniki symulacji porównano do rezultatów rzeczywistych eksperymentów. Analiza obrazu zarejestrowanego za pomocą zewnętrznej kamery pozwoliła na obserwacje trajektorii ruchu robota.
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