Spherical robot linear motion deflection angle compensation

The motion of spherical robot is non-linear and coupling, so most of the movement takes the decomposition into linear motion and steering motion and controls separately. The robot deviates from the equilibrium position when it encounters balance error, structure error, also uneven ground and jitter during the process. To solve the problem, this paper proposes fuzzy PID control method for compensation of the deflection angle to adjust trajectory. First, spherical robot kinematics and dynamics models are developed, and then fuzzy PID control method is analyzed, the compensation of motor mathematical model is established, and finally the robot simulation is conducted in Simulink. Result shows that the effect is well compensation.