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发展与控制一种真实的球形机器人。

Development and Control of a Real Spherical Robot.

机构信息

Escuela de Ingeniería Eléctrica, Pontificia Universidad Católica de Valparaíso, Av. Brasil 2147, Valparaíso 2362804, Chile.

Departamento de Electrotecnia e Informática, Universidad Técnica Federico Santa María, Av. Federico Santa María 6090, Viña del Mar 2520001, Chile.

出版信息

Sensors (Basel). 2023 Apr 11;23(8):3895. doi: 10.3390/s23083895.

DOI:10.3390/s23083895
PMID:37112236
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10144677/
Abstract

This paper presents the design and implementation of a spherical robot with an internal mechanism based on a pendulum. The design is based on significant improvements made, including an electronics upgrade, to a previous robot prototype developed in our laboratory. Such modifications do not significantly impact its corresponding simulation model previously developed in CoppeliaSim, so it can be used with minor modifications. The robot is incorporated into a real test platform designed and built for this purpose. As part of the incorporation of the robot into the platform, software codes are made to detect its position and orientation, using the system SwisTrack, to control its position and speed. This implementation allows successful testing of control algorithms previously developed by the authors for other robots such as Villela, the Integral Proportional Controller, and Reinforcement Learning.

摘要

本文介绍了一种基于摆的内部机构的球形机器人的设计与实现。该设计是在我们实验室之前开发的一个机器人原型的基础上进行了重大改进，包括电子设备升级。这些修改并没有对之前在 CoppeliaSim 中开发的相应仿真模型产生显著影响，因此可以稍加修改后使用。机器人被集成到为此目的设计和构建的真实测试平台中。作为将机器人集成到平台中的一部分，使用 SwisTrack 系统编写了软件代码来检测其位置和方向，以控制其位置和速度。这种实现方式允许对作者之前为其他机器人（如 Villela、积分比例控制器和强化学习）开发的控制算法进行成功测试。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/46965983be15/sensors-23-03895-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/1b4efce3037d/sensors-23-03895-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/da58de6a417a/sensors-23-03895-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/faf007623f9e/sensors-23-03895-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/bece74bb2f9e/sensors-23-03895-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/9ff09c4150b7/sensors-23-03895-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/db608a29f2b4/sensors-23-03895-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/02ec64182e1b/sensors-23-03895-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/c6850e50946a/sensors-23-03895-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/38c7dea11d99/sensors-23-03895-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/0d1d6e387bd3/sensors-23-03895-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/8f4836f05ae0/sensors-23-03895-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/0050fdcea4d9/sensors-23-03895-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/080d8b34f001/sensors-23-03895-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/46965983be15/sensors-23-03895-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/1b4efce3037d/sensors-23-03895-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/da58de6a417a/sensors-23-03895-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/faf007623f9e/sensors-23-03895-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/bece74bb2f9e/sensors-23-03895-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/9ff09c4150b7/sensors-23-03895-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/db608a29f2b4/sensors-23-03895-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/02ec64182e1b/sensors-23-03895-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/c6850e50946a/sensors-23-03895-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/38c7dea11d99/sensors-23-03895-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/0d1d6e387bd3/sensors-23-03895-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/8f4836f05ae0/sensors-23-03895-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/0050fdcea4d9/sensors-23-03895-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/080d8b34f001/sensors-23-03895-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/aa16/10144677/46965983be15/sensors-23-03895-g014.jpg

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本文引用的文献

1
Modeling and Control of a Spherical Robot in the CoppeliaSim Simulator.在 CoppeliaSim 模拟器中对球形机器人进行建模与控制。
Sensors (Basel). 2022 Aug 12;22(16):6020. doi: 10.3390/s22166020.