One-dimensional attitude control for BIT flying Robot

A flying space spherical robot (SSR) with a maximum diameter of 90mm is designed to assist astronauts in detecting and troubleshooting in small spaces of space stations. Flywheels on three faces of frame are used to generate torque through accelerated rotating motion, so that SSR rotates reversely. In this paper, one-dimensional dynamic model of SSR is presented as referring to a small size design for space applications. Ground experiments simulating zero gravity were carried out to verify the effectiveness of the dynamic model and system operation. Results of lab tests show the feasibility of the BIT flying robot by using the proposed dynamic model for its controlled operation.