Control de velocidad de un robot esfera con locomoción inercial

Mario Enrique Herrera-Cordero; Manuel Arias-Montiel

doi:10.29057/icbi.v12iEspecial2.12284

Mario Enrique Herrera-Cordero Universidad Tecnológica de la Mixteca https://orcid.org/0009-0001-8365-3511
Manuel Arias-Montiel Technological University of the Mixteca https://orcid.org/0000-0003-4534-9401

DOI: https://doi.org/10.29057/icbi.v12iEspecial2.12284

Keywords: sphere Robot, pendulum, Euler Lagrange

Abstract

This work presents the speed control of a sphere robot with BCO architecture, based on its transfer function. The controller is developed by analyzing the root locus (LGR) of the closed-loop (LC) transfer function. The proposed controller is evaluated in both linear and nonlinear models. Numerical simulations are executed with the Matlab-Simulink software to evaluate the performance of the controller, demonstrating the viability to be implemented in both models. Finally, the control torque necessary for the selection of the robot actuators is shown.

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