This paper deals with the problem of a spherical robot propelled by an internal omniwheel platform and rolling without slipping on a plane. The problem of control of spherical robot motion along an arbitrary trajectory is solved within the framework of a kinematic model and a dynamic model. A number of particular cases of motion are identified, and their stability is investigated. An algorithm for constructing elementary maneuvers (gaits) providing the transition from one steady-state motion to another is presented for the dynamic model. A number of experiments have been carried out confirming the adequacy of the proposed kinematic model.
Keywords:
spherical robot, kinematic model, dynamic model, nonholonomic constraint, omniwheel
Citation:
Karavaev Y. L., Kilin A. A., The Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform, Regular and Chaotic Dynamics,
2015, Volume 20, Number 2,
pp. 134-152