The Kinematics and Dynamics Motion Analysis of a Spherical Robot

Abstract

Mobile robot application has reach more aspect of life in industry and domestic. One of the mobile robot types is a spherical robot whose components are shielded inside a rigid cell. The spherical robot is an interesting type of robot that combined the concept of a mobile robot and inverted pendulum for inner mechanism. This combination adds to more complex controller design than the other type of mobile robots. Aside from these challenges, the application of a spherical robot is extensive, from being a simple toy, to become an industrial surveillance robot. This paper discusses the mathematical analysis of the kinematics and dynamics motion analysis of a spherical robot. The analysis combines mobile robot and pendulum modeling as the robot motion generated by a pendulum mechanism. This paper is expected to give a complete discussion of the kinematics and dynamics motion analysis of a spherical robot.