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The dynamic analysis and control strategy of spherical robot with telescopic manipulator

In this paper, the mechanical structure, dynamic model and control strategy of an omni-directional rolling spherical robot with a telescopic manipulator (BYQ-IV) are discussed in particular. The structure of the whole robot is included of the motion driving part, the manipulator part and the stability maintain part. The simplified dynamic model of the motion driving part is formed by the Kane method. Moreover, the distribute control system of the robot based on ARM processor and wireless communication system are introduced and the software architecture of control system is analyzed. This robot is designed for territory or lunar exploration. It not only has features like straight line motion, circular motion, zero turning radius and obstacle avoidance, but also is able to accomplish tasks such as stably grabbing and delivering assemblies. The experiment shows that the prototype of the spherical robot with telescopic manipulator can stably grasp a static target and carry it to a new location.