Control method for realizing robot planar motion based on single vibration motor

Abstract

The application discloses a control method for realizing robot planar motion based on single vibration motor, which comprises the following steps: (1) establishing a coordinate system; (2) performing dynamics analysis on the jumping motion of the robot to obtain the torque of the robot centroid G, a contact point A and a contact point B; (3) calculating the support force of the contact point A and the contact point B respectively to obtain the position, speed and acceleration of the robot centroid G along the z-axis; (4) performing planar kinematics analysis on the robot to obtain the acceleration and angular acceleration of the robot centroid G in the ground coordinate system, and using integration to obtain the current position and current rotation angle of the robot; (5) using the iterative method to calculate and determine the mapping relationship between the rotation speed of the micro vibration motor and the planar motion of the robot; and (6) controlling the rotation speed of the micro vibration motor to realize the straight motion and rotation motion of the robot in the plane. The application has the advantages of high control precision and high reliability.

Description

Technical Field

[0001] This invention relates to the field of motion control for micro mobile robots, and specifically to a control method for realizing planar motion of a robot based on a single vibration motor. Background Technology

[0002] In recent years, with the rapid development of robotics and micromachining technologies, microrobot technology has been applied to many fields such as mechanics, chemistry, and clinical medical diagnosis. Currently, among the various microrobots publicly reported in academic journals, the vast majority employ wheeled, tracked, or articulated telescopic peristaltic drive methods. The mainstream drive method currently under research is wheeled drive, but because the size of the drive wheels and transmission mechanisms cannot be truly miniaturized, its application in micro-environments is affected. Therefore, the miniaturization of drive mechanisms is a major challenge in the field of microrobots.

[0003] Miniature vibration motors are a type of brushed DC motor. They have an eccentric wheel on the motor shaft. When the motor rotates, the center of the eccentric wheel is not on the motor's axis of rotation, causing the motor to continuously lose its balance and vibrate due to inertia. Currently, miniature vibration motors are widely used in mobile phones, game controllers, smartwatches, smart bracelets, and VR / AR wearable devices.

[0004] In existing technologies, robot movement using a single vibration motor is primarily based on the stick-slip mechanism, such as the predictive control method for a "stick-slip" micro-motion platform disclosed in Chinese patent document 201610615050.X. However, the models in these existing solutions are overly simplified, for example, by simplifying the direction of frictional forces in each leg. This fails to explain why a single vibration motor directly drives the robot to move in a straight line, resulting in a circular spiral trajectory that deviates significantly from the actual movement trajectory of the mobile robot, leading to poor reliability. Summary of the Invention

[0005] The main objective of this invention is to provide a control method for realizing the planar motion of a robot based on a single vibration motor. This method enables the robot to perform linear and rotational movements within a plane, and has the advantages of precise control and high reliability.

[0006] To achieve the aforementioned main objectives, this invention provides a control method for realizing planar motion of a robot based on a single vibration motor. The robot includes a body, a micro vibration motor, and supporting legs. The driving end of the micro vibration motor has an eccentric mass block. The micro vibration motor and the supporting legs are arranged front-to-back along the central axis of the body on opposite sides below it. The support height of the supporting legs is set lower than the support height of the micro vibration motor, so that the body presents an inclined state with the front end higher and the rear end lower, resulting in a two-point ground contact model of the robot, which naturally exhibits a self-righting effect. The control method includes the following steps:

[0007] Step (1) Establish the ground coordinate system x0y0z0, the robot coordinate system x1y1z1, and the vibration motor coordinate system x motor y motor z motor ;where x0, x1 and x motor All along the front-to-back direction of the fuselage, y0, y1 and y motor All along the left and right direction of the fuselage;

[0008] Step (2) Perform a jumping motion dynamics analysis on the robot in the x0-y0 plane; wherein the robot has two degrees of freedom: rotation around the y1 axis and translation along the z0 axis;

[0009] Let ω be the rotational speed of the micro-vibration motor, and t be the running time. Then, the rotor rotation angle θ of the micro-vibration motor is θ = ω·t. The output centrifugal force of the micro-vibration motor can be obtained through a rotation matrix and expressed in the coordinate system x1y1z1 as follows: Specifically as follows:

[0010]

[0011] Where, q 10 The angle between the vibratory motor and the ground;

[0012] according to Calculate the torque at the robot's center of mass G, contact point A, and contact point B respectively;

[0013] Step (3) Based on the robot's jumping process, the jumping action is divided into four stages, and the support forces at contact points A and B are calculated respectively to obtain the position, velocity and acceleration of the robot's center of mass G along the z-axis; wherein, the four stages are 1) contact points A and B land simultaneously; 2) contact point A lands and contact point B leaves the ground; 3) contact point A leaves the ground and contact point B lands; 4) contact points A and B leave the ground simultaneously;

[0014] Step (4) Perform planar kinematics analysis on the robot in the x0-y0 plane; wherein the robot has three degrees of freedom: translation along the x and y directions and rotation about the z axis;

[0015] Based on the support forces of contact points A and B obtained in step (3), calculate the friction forces of contact points A and B, and obtain the acceleration and angular acceleration of the robot's center of mass G in the ground coordinate system x0y0z0; integrate the acceleration to obtain the robot's current position, and integrate the angular acceleration to obtain the robot's current rotation angle.

[0016] Step (5) uses the iterative method to calculate and obtain the data set between the rotational speed of the micro vibration motor and the angular velocity of the robot. Then, the mapping relationship between the rotational speed of the micro vibration motor and the planar motion of the robot is determined from the data set.

[0017] Step (6) controls the rotational speed of the micro vibration motor according to the mapping relationship established in step (5), thereby realizing the robot's straight and rotational movements in the plane.

[0018] According to a specific embodiment of the present invention, the device body is provided with a power supply module and a control circuit board. The power supply module is used to supply power; the control circuit board is used to control the magnitude and direction of the input voltage of the micro drive motor, thereby realizing the control of the speed and rotation direction of the micro drive motor.

[0019] According to a specific embodiment of the present invention, in step (2), the vector cross product is calculated respectively. Torque at the center of mass G, contact point A, and contact point B;

[0020] The torque of the center of mass G is expressed as:

[0021]

[0022] in, The vector z represents the distance from the center of mass G to the origin O of the coordinate system of the micro-vibration motor. GO x represents the projection of GO onto the z-axis of the fuselage coordinate system. GO This represents the projection of GO onto the x-axis of the fuselage coordinate system;

[0023] The torque at contact point A is expressed as:

[0024]

[0025] in, This represents the vector from contact point A to the origin O of the miniature vibration motor. The z-vector represents the vector from contact point A to the centroid G. AO x represents the projection of AO onto the z-axis of the fuselage coordinate system. AOThis represents the projection of AO onto the x-axis of the fuselage coordinate system, x AG This represents the projection of AG onto the x-axis of the body coordinate system, where m is the mass of the robot and h is the height of the vibration motor.

[0026] The torque at contact point B is expressed as:

[0027]

[0028] in, This represents the vector from contact point B to the origin O of the miniature vibration motor. The z-vector represents the vector from the contact point B to the centroid G. BO This represents the projection of BO onto the z-axis of the fuselage coordinate system, x BO This represents the projection of BO onto the x-axis of the fuselage coordinate system; z BG and x BG Similarly, these are the projections of BG onto the z-axis and x-axis of the fuselage coordinate system, respectively.

[0029] According to a specific embodiment of the present invention, the method for step (4) of obtaining the robot's current position and current rotation angle is as follows:

[0030] 4.1) Establish the rotation matrix for the robot's coordinate system x1y1z1 and the ground coordinate system x0y0z0, where q G This represents the angle of rotation of the robot along the z-axis in the ground coordinate system at time t;

[0031]

[0032] Calculate the velocities of contact points A and B relative to the ground coordinate system based on the robot's center of mass velocity and acceleration. and Calculate the frictional force between the two points. and

[0033]

[0034] in For the centrifugal force of the miniature vibrating motor in the ground coordinate system, u A Let N be the coefficient of kinetic friction between point A and the ground. A The ground support force at contact point A;

[0035] The frictional force at contact point B can be calculated similarly.

[0036] 4.2) The acceleration of the robot's center of mass is calculated as follows:

[0037]

[0038] in, This represents the velocity of the center of mass in the ground coordinate system;

[0039] 4.3) Calculate the angular acceleration of the robot's center of mass. sum moment

[0040]

[0041]

[0042] Among them, I Gz Let G be the moment of inertia of the robot's center of mass G along the z-axis;

[0043] 4.4) Integrate the acceleration and angular acceleration to obtain the current robot center of mass. and angle

[0044]

[0045] According to a specific embodiment of the present invention, in the mapping relationship established in step (5), the robot's planar linear motion can be achieved by simply changing the rotational speed of the micro-vibration motor without changing the rotational direction; wherein: when the rotational speed of the micro-vibration motor is lower than the first threshold, the robot's angular velocity is negative; when the rotational speed of the micro-vibration motor is higher than the second threshold, the robot's angular velocity is positive; when the rotational speed of the micro-vibration motor is between the first threshold and the second threshold, the robot's angular velocity is zero;

[0046] According to a specific embodiment of the present invention, the rotational motion of the robot in the plane in step (6) includes circular arc motion and stationary rotational motion.

[0047] The present invention has the following beneficial effects:

[0048] This invention enables a robot to perform linear and rotational movements in a plane by directly driving it with a single micro-vibration motor. It establishes a mapping relationship between the rotational speed of the micro-vibration motor and the angular velocity of the robot. By changing only the rotational speed of the micro-vibration motor without altering its direction of rotation, linear and rotational movements in the plane can be achieved, offering advantages such as precise control and high reliability. Furthermore, this invention uses a single vibration motor and has no transmission mechanism, resulting in a very simple structure that facilitates miniaturized robot design.

[0049] Meanwhile, the robot of this invention adopts a two-point contact ground model, and a detailed dynamics and kinematic analysis of the robot can well explain the motion mechanism of the robot directly driven by a single micro vibration motor in straight line and rotation in the plane.

[0050] To more clearly illustrate the purpose, technical solution, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0051] Figure 1 This is a simplified structural diagram of an embodiment of the robot of the present invention;

[0052] Figure 2 yes Figure 1 Top view;

[0053] Figure 3 This is a flowchart of an embodiment of the robot of the present invention;

[0054] Figure 4 This is a comparison chart of the model angular velocity and the experimental angular velocity.

[0055] Figure 5 This is a comparison chart of the model trajectory and the experimental trajectory. Detailed Implementation

[0056] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0057] This invention provides a control method for realizing planar motion of a robot based on a single vibration motor. The robot includes a body 1, a micro vibration motor 2, and supporting legs 3. The driving end of the micro vibration motor 2 has an eccentric mass block. The micro vibration motor 2 and the supporting legs 3 are arranged front-to-back along the central axis of the body 1 on opposite sides below it. The support height of the supporting legs 3 is set lower than the support height of the micro vibration motor 2, so that the body 1 presents an inclined state with a higher front end and a lower rear end, resulting in a two-point contact ground model of the robot. Figure 1 As shown, this two-point contact ground model naturally exhibits a roly-poly effect.

[0058] For example, the device body is provided with a power module and a control circuit board; wherein, the power module is used to supply power; the control circuit board is used to control the magnitude and direction of the input voltage of the micro drive motor, thereby realizing the control of the speed and rotation direction of the micro drive motor.

[0059] The control method of this invention specifically includes the following steps:

[0060] Step (1) Establish the ground coordinate system x0y0z0, the robot coordinate system x1y1z1, and the vibration motor coordinate system x motor y motor z motor;where x0, x1 and x motor All along the front-to-back direction of the fuselage, y0, y1 and y motor All along the left and right direction of the fuselage, such as Figure 2 As shown;

[0061] Step (2) Perform a jumping motion dynamics analysis on the robot in the x0-y0 plane; wherein the robot has two degrees of freedom: rotation around the y1 axis and translation along the z0 axis;

[0062] Let ω be the rotational speed of the micro-vibration motor, and t be the running time. Then, the rotor rotation angle θ of the micro-vibration motor is θ = ω·t. The output centrifugal force of the micro-vibration motor can be obtained through a rotation matrix and expressed in the fuselage coordinate system x1y1z1 as follows: Specifically as follows:

[0063]

[0064] Where, q 10 The angle between the miniature vibrating motor and the ground;

[0065] according to Calculate the torque at the robot's center of mass G, contact point A, and contact point B respectively;

[0066] Specifically, the vector cross product method is used to calculate... Torque at the center of mass G, contact point A, and contact point B;

[0067] The torque of the center of mass G is expressed as:

[0068]

[0069] in, The vector z represents the distance from the center of mass G to the origin O of the coordinate system of the micro-vibration motor. GO x represents the projection of GO onto the z-axis of the fuselage coordinate system. GO This represents the projection of GO onto the x-axis of the fuselage coordinate system;

[0070] The torque at contact point A is expressed as:

[0071]

[0072] in, This represents the vector from contact point A to the origin O of the miniature vibration motor. The z-vector represents the vector from contact point A to the centroid G. AO x represents the projection of AO onto the z-axis of the fuselage coordinate system. AO This represents the projection of AO onto the x-axis of the fuselage coordinate system, x AGThe projection of AG onto the x-axis of the body coordinate system is represented by m, where m is the mass of the robot and h is the height of the micro vibration motor.

[0073] The torque at contact point B is expressed as:

[0074]

[0075] in, This represents the vector from contact point B to the origin O of the miniature vibration motor. The z-vector represents the vector from the contact point B to the centroid G. BO This represents the projection of BO onto the z-axis of the fuselage coordinate system, x BO This represents the projection of BO onto the x-axis of the fuselage coordinate system, z. BG and x BG Similarly, these are the projections of BG onto the z-axis and x-axis of the fuselage coordinate system, respectively.

[0076] Step (3) divides the jumping action into four stages based on the robot's jumping process, and calculates the support forces at contact points A and B respectively, so as to obtain the position, velocity, and acceleration of the robot's center of mass G along the z-axis, such as Figure 3 As shown;

[0077] The four stages are as follows:

[0078] 1) Contact points A and B land simultaneously;

[0079] 2) Contact point A touches the ground, contact point B is off the ground;

[0080] 3) Contact point A is off the ground, contact point B is on the ground;

[0081] 4) Contact points A and B are simultaneously lifted off the ground;

[0082] The details are as follows:

[0083] 3.1) Contact points A and B land simultaneously;

[0084] The calculated support forces at contact points A and B are as follows:

[0085]

[0086] Determine whether contact points A and B jump based on the torque along the y-axis and the force along the z-axis:

[0087]

[0088] 3.2) Contact point A is on the ground and contact point B is off the ground;

[0089] When contact point A touches the ground and contact point B lifts off the ground, the robot oscillates around contact point A; calculate the angular acceleration β.y :

[0090]

[0091] Among them, I Ay Let q be the moment of inertia about the contact point A along the y-axis. y This represents the rotation angle at point A along the y-axis;

[0092] Integrating the angular acceleration yields the rotational angular velocity w along the y-axis at contact point A. y and angle q y :

[0093]

[0094] Next, the position z of the robot's center of mass G is calculated. G Speed ​​v G and acceleration a G :

[0095]

[0096] Where q2 represents the angle between the line connecting GA and the vertical direction in the xz plane (e.g., ...). Figure 1 (As shown).

[0097] Since only contact point A is in contact with the ground, the supporting forces at contact points A and B can be obtained as follows:

[0098]

[0099] Reassess the jump situation at contact points A and B:

[0100]

[0101] 3.3) Contact point A is off the ground and contact point B is on the ground;

[0102] Similar to 3.2), no further explanation is needed.

[0103] 3.4) Contact points A and B are simultaneously lifted off the ground;

[0104] The robot's motion can be described as the translation of its center of mass G and its rotation about its center of mass G, from which we can obtain:

[0105]

[0106] Reassess the jump situation at contact points A and B:

[0107]

[0108] Where q3 represents the angle between the line connecting GB and the vertical direction in the xz plane.

[0109] Step (4) Perform planar kinematics analysis on the robot in the x0-y0 plane; wherein the robot has three degrees of freedom: translation along the x and y directions and rotation about the z axis;

[0110] Based on the support forces of contact points A and B obtained in step (3), calculate the friction forces of contact points A and B, and obtain the acceleration and angular acceleration of the robot's center of mass G in the ground coordinate system x0y0z0.

[0111] Specifically, the robot's current position is obtained by integrating the acceleration, and the robot's current rotation angle is obtained by integrating the angular acceleration.

[0112] The method for determining the robot's current position and current rotation angle is as follows:

[0113] 4.1) Establish the rotation matrices for the robot's body coordinate system x1y1z1 and ground coordinate system x0y0z0; where q G This represents the angle of rotation of the robot along the z-axis in the ground coordinate system at time t;

[0114]

[0115] Calculate the velocities of contact points A and B relative to the ground coordinate system based on the robot's center of mass velocity and acceleration. and Calculate the frictional force between the two points. and

[0116]

[0117] in For the centrifugal force of the miniature vibrating motor in the ground coordinate system, u A Let N be the coefficient of kinetic friction between contact point A and the ground. A The ground support force at point A;

[0118] The frictional force at contact point B can be calculated similarly.

[0119] 4.2) The acceleration of the robot's center of mass is calculated as follows:

[0120]

[0121] in, This represents the velocity of the center of mass in the ground coordinate system.

[0122] 4.3) Calculate the angular acceleration of the robot's center of mass. sum moment

[0123]

[0124]

[0125] Among them, I Gz Let be the moment of inertia of the robot's center of mass along the z-axis;

[0126] 4.4) Integrate the acceleration and angular acceleration to obtain the current robot center of mass. and angle

[0127]

[0128] Step (5) uses the iterative method to calculate and obtain the data set between the rotational speed of the micro vibration motor and the angular velocity of the robot. Then, the mapping relationship between the rotational speed of the micro vibration motor and the planar motion of the robot is determined from the data set.

[0129] In the mapping relationship established in step (5), the robot's planar linear motion can be achieved by simply changing the rotation speed of the micro vibration motor without changing the rotation direction; wherein: when the rotation speed of the micro vibration motor is lower than the first threshold, the robot's angular velocity is negative; when the rotation speed of the micro vibration motor is higher than the second threshold, the robot's angular velocity is positive; when the rotation speed of the micro vibration motor is between the first threshold and the second threshold, the robot's angular velocity is zero.

[0130] Step (6) controls the rotation speed of the micro vibration motor according to the mapping relationship established in step (5), thereby realizing the robot's straight and rotational movements in the plane; wherein, the robot's rotational movements in the plane include circular arc movements and stationary rotational movements.

[0131] To verify this invention, the inventors conducted real-time experiments, comparing the model output of the above control method with the experimental results; for example... Figure 4 As shown, when the speed of the micro-vibration motor is less than 860 rad / s (i.e., the first threshold in the experiment), the robot's angular velocity is negative, meaning the robot moves in a clockwise circular arc. When the speed of the micro-vibration motor is greater than 900 rad / s (i.e., the second threshold in the experiment), the robot's angular velocity is positive, meaning the robot moves in a counterclockwise circular arc. When the speed of the micro-vibration motor is between 860 and 900 rad / s, the robot's angular velocity is approximately 0, meaning the robot moves in a straight line.

[0132] like Figure 5 As shown, the planar motion trajectory in the experiment and the planar motion trajectory output by the model have a very high degree of consistency, further verifying the reliability of the prediction method in this embodiment of the invention.

[0133] It should be noted that the first and second thresholds obtained in the experimental verification section of the embodiment are specific values ​​obtained by the robot model and micro vibration motor in the experimental verification. When the robot parameters and the selection of the micro vibration motor change, the specific values ​​of the first and second thresholds will be determined according to the actual situation.

[0134] Although the present invention has been described above through embodiments, it should be understood that the above embodiments are only used to exemplarily describe possible implementations of the present invention and should not be construed as limiting the scope of protection of the present invention. That is, any substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the scope of protection of the claims of the present invention.

Claims

1. A control method for realizing planar motion of a robot based on a single vibration motor, characterized in that, The robot includes a body, micro-vibration motors, and support legs. The drive end of each micro-vibration motor has an eccentric mass block. The micro-vibration motors and support legs are arranged front-to-back along the central axis of the body, on opposite sides of the body. The support height of the support legs is set lower than the support height of the micro-vibration motors, causing the body to tilt with a higher front end and a lower rear end, resulting in a two-point ground contact model of the robot. This two-point ground contact model naturally exhibits a self-righting effect. The control method includes the following steps: Step (1) Establish the ground coordinate system x 0 y 0 z 0 The coordinate system x corresponding to the robot's body. 1 y 1 z 1 and the coordinate system x corresponding to the vibratory motor motor y motor z motor ; where x 0 x 1 and x motor All along the front-to-back direction of the fuselage, y 0 y 1 and y motor All along the left and right direction of the fuselage; Step (2) for x 0 -y 0 Dynamics analysis of jumping motion of a planar robot; wherein, the robot has a y-axis rotation. 1 Axis rotation and along z 0 The two degrees of freedom are translation along the axis; Let ω be the rotational speed of the micro-vibration motor, and t be the running time. Then, the rotor rotation angle θ of the micro-vibration motor is θ = ω·t. The output centrifugal force of the micro-vibration motor can be obtained through a rotation matrix and set in the machine coordinate system x. 1 y 1 z 1 The following is represented as The details are as follows: ； in, q 10 The angle between the miniature vibrating motor and the ground; according to Calculate the torque at the robot's center of mass G, contact point A, and contact point B respectively; In step (2), the vector cross product is calculated respectively. Torque at the center of mass G, contact point A, and contact point B; The torque of the center of mass G is expressed as: ； in, This represents the vector from the center of mass G to the origin O of the coordinate system of the micro-vibration motor. z GO express In the fuselage coordinate system z Projection on the axis x GO express In the fuselage coordinate system x Projection of the axis; The torque at contact point A is expressed as: ； in, This represents the vector from point A to the origin O of the miniature vibration motor. This represents the vector from point A to the centroid G. Represents gravitational acceleration. z AO express Projection on the z-axis of the fuselage coordinate system x AO express Projection onto the x-axis of the fuselage coordinate system x AG express The projection of the robot onto the x-axis of the body coordinate system, where m is the mass of the robot and h is the height of the micro vibration motor; The torque at contact point B is expressed as: ； in, This represents the vector from point B to the origin O of the miniature vibration motor. This represents the vector from point B to the centroid G. z BO express Projection onto the z-axis of the fuselage coordinate system x BO express Projection onto the x-axis of the fuselage coordinate system z BG and x BG Similarly, respectively Projection onto the z-axis and x-axis of the fuselage coordinate system; Step (3) Divide the jumping action into four stages according to the robot's jumping process, and calculate the support force of contact point A and contact point B respectively to obtain the position, velocity and acceleration of the robot's center of mass G along the z-axis; wherein, the four stages are 1) contact point A and contact point B land simultaneously; 2) contact point A lands and contact point B leaves the ground; 3) contact point A leaves the ground and contact point B lands; 4) contact point A and contact point B leave the ground simultaneously; Step (4) for x 0 -y 0 Planar kinematics analysis is performed on a planar robot; the robot has three degrees of freedom: translation along the x and y directions and rotation about the z-axis. Based on the support forces at contact points A and B obtained in step (3), calculate the friction forces at contact points A and B, and determine the robot's center of mass G in the ground coordinate system x. 0 y 0 z 0 The robot's acceleration and angular acceleration are calculated; the acceleration is integrated to obtain the robot's current position, and the angular acceleration is integrated to obtain the robot's current rotation angle. The method for determining the robot's current position and current rotation angle in step (4) is as follows: 4.1) Establish the robot's body coordinate system x 1 y 1 z 1 and ground coordinate system x 0 y 0 z 0 The rotation matrix, where q G express t The angle of rotation of the robot along the z-axis in the ground coordinate system at any given moment; ； Calculate the velocities of contact points A and B relative to the ground coordinate system based on the robot's center of mass velocity and acceleration. and And calculate the frictional force between the two points. and : ； in The centrifugal force of the miniature vibrating motor in the ground coordinate system. u A Let be the coefficient of kinetic friction between contact point A and the ground. N A Let A be the ground support force at contact point A; the frictional force at contact point B can be calculated similarly. 4.2) The acceleration of the robot's center of mass is calculated as follows: ； in, This represents the velocity of the center of mass in the ground coordinate system; 4.3) Calculate the angular acceleration of the robot's center of mass. sum moment : ； ； Among them, I Gz Let be the moment of inertia of the robot's center of mass along the z-axis; 4.4) Integrate the acceleration and angular acceleration to obtain the current robot center of mass. and angle : ； Step (5) uses an iterative method to calculate and obtain a dataset between the rotational speed of the micro-vibration motor and the angular velocity of the robot. Then, the mapping relationship between the rotational speed of the micro-vibration motor and the planar motion of the robot is determined from the dataset. In the mapping relationship established in step (5), the planar linear motion of the robot can be achieved by changing the rotational speed of the micro-vibration motor without changing the direction of rotation. Among them: when the rotational speed of the micro-vibration motor is lower than the first threshold, the angular velocity of the robot is negative; when the rotational speed of the micro-vibration motor is higher than the second threshold, the angular velocity of the robot is positive; when the rotational speed of the micro-vibration motor is between the first threshold and the second threshold, the angular velocity of the robot is zero. Step (6) controls the rotational speed of the micro vibration motor according to the mapping relationship established in step (5), thereby realizing the robot's straight and rotational movements in the plane.

2. The control method for realizing planar motion of a robot based on a single vibration motor as described in claim 1, characterized in that: The device is equipped with a power module and a control circuit board. The power module is used to supply power; the control circuit board is used to control the magnitude and direction of the input voltage of the micro drive motor, thereby controlling the speed and direction of rotation of the micro drive motor.

3. The control method for realizing planar motion of a robot based on a single vibration motor as described in claim 1, characterized in that: In step (6), the robot's rotational motion in the plane includes circular motion and stationary rotation.

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