Motion analysis of a spherical mobile robot

Abstract

A path planning algorithm for a spherical mobile robot rolling on a plane is presented in this paper. The robot is actuated by two internal rotors that are fixed to the shafts of two motors. These are in turn mounted on the spherical shell in mutually orthogonal directions. The system is nonholonomic due to the nonintegrable nature of the rolling constraints. Further, the system cannot be converted into a chained form, and neither is it nilpotent nor differentially flat. So existing techniques of nonholonomic path planning cannot be applied directly to the system. The approach presented here uses simple geometrical notions and provides numerically efficient and intuitive solutions. We also present the dynamic model and derive motor torques for execution of the algorithm. Along the proposed paths, we achieve dynamic decoupling of the variables making the algorithm more suitable for practical applications.

Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots

“…Svinin and Hosoe (2008), Svinin et al (2012aSvinin et al ( , 2012b, and Morinaga et al (2012) discuss kinematics, dynamics and control of a ball-robot carrying six flywheels. Karimpour et al (2012), Joshi et al (2007Joshi et al ( , 2010, and Joshi and Banavar (2009) conduct an extensive discussion on a spherical robot driven by three and four momentum wheels.…”

Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots

“…The no-slip condition is then defined as a pure rolling, leaving the vertical precession unconstrained. Agrawal 2000a, 2000b;Otani et al 2006;Ishikawa et al 2010Ishikawa et al , 2011Svinin et al 2012aSvinin et al , 2012bMorinaga et al 2012;Azizi and Naderi 2013 Joshi et al (2007Joshi et al ( , 2010 and Joshi and Banavar (2009) give an extensive discussion on a spherical robot driven by four momentum wheels. In particular, Figure 3) give an impression of a robot rolling around a tilted axis but following a straight path.…”

The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform

“…Экспериментальные ис-следования траектории движения сфероробота с внутренней омниколесной платформой согласно кинематической модели показали существенное отклонение реальной траектории движения от заданной траектории. Следует отметить, что в ходе экспериментальных иссле-дований для других конструкций сферороботов [2][3][4][5][6][7][8][9] были получены похожие результаты.…”