Norma：一种滑动摆驱动球形机器人的设计、建模与控制
Design, Modeling, and Control of Norma: a Slider & Pendulum-Driven Spherical Robot
摘要：
本文讨论了一种新型的2自由度移动球形机器人Norma的设计、建模和控制。该机器人的推进机构由两个驱动器组成：一个滑块和一个位于SR的对角轴上的旋转摆。滑块可以沿着轴平移，并将机器人的重心移向机器人的两侧。摆锤绕轴旋转以推动SR向前和向后滚动。这两个驱动器使SR执行滚动和转弯机动作为一个非完整的机器人。所提出的机械设计的优点在于它的物理实现方便，灵活，准确的数学模型。利用欧拉-拉格朗日方法，使用最小可能的简化来推导所提出的机械结构的动力学。此外，一个路径跟踪控制方案，介绍了一个平滑的轨迹。最后，在MATLAB中进行仿真，以验证数学模型的准确性和控制器的有效性对实验结果。
英文摘要：
This paper discusses the design, modeling, and control of Norma, a novel 2 DOF mobile spherical robot (SR). The propelling mechanism of this robot consists of two actuators: a slider, and a rotational pendulum located on the SR's diagonal shaft. The slider can translate along the shaft and shift the robot's center of gravity towards the robot's sides. The pendulum rotates around the shaft to propel the SR to roll forward and backward. These two actuators enable the SR to perform both rolling and turning maneuvers as a nonholonomic robot. The advantage of the proposed mechanical design lies in its convenience of physical implementation, agility, and accurate mathematical model. The Euler Lagrange approach is utilized to derive the dynamics of the proposed mechanical structure using minimum simplifications possible. Further, a path tracking control scheme is introduced for a smooth trajectory. Finally, simulations are carried out in MATLAB to verify the accuracy of the mathematical model and the effectiveness of the controller against experimental results.
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