Kinematic Model and Trajectory Tracking Algorithm for High-Speed Spherical Robots

This paper proposes a new turning theory for spherical robots, which better describes the turning mechanism of spherical robots under turning constraints, using a pendulum-driven spherical robot as an example. Compared to the previous turning theory, the new theory shows greater alignment with real-world data, especially at high speeds. Based on this new turning theory, we have constructed and optimized a new kinematic model and used this model to design a trajectory tracking algorithm that remains reliable even at high speeds. Physical experiments demonstrate that the new algorithm significantly improves trajectory tracking accuracy at high speeds. Through enhancements to the trajectory tracking algorithm, this study improves the autonomous cruising speed of spherical robots.

Authors

• Bixuan Zhang
• Tao Hu 0008
• Xiaoqing Guan
• Haojie Chen
• You Wang 0001
• Jie Hao
• Guang Li 0001

Keywords

• Accuracy
• Trajectory tracking
• Kinematics
• Reliability theory
• Turning
• Reliability engineering
• Stability analysis
• Trajectory
• Robots
• Thermal stability
• Tracking Algorithm
• Spherical Robot
• Trajectory Tracking Algorithm
• High Speed
• Real-world Data
• Tracking Accuracy
• Physical Experiments
• Speed Of The Robot
• Optimization Problem
• Cost Function
• Low Speed
• Change In Angle
• Tracking Error
• Model Predictive Control
• Arc Length
• Optimal Control Problem
• Roll Angle
• Yaw Angle
• Spherical Shell
• Target Speed
• End Of Axis
• Trajectory Segments
• World Coordinate System
• Roll Axis
• Forward Speed
• Motion Constraints
• Centripetal Force
• Nonlinear Model Predictive Control
• Original Algorithm
• Robot State