Abstract
The paper deals with the dynamics and motion planning for a spherical rolling robot actuated by internal rotors that are placed on orthogonal axes. The driving principle for such a robot exploits non-holonomic constraints to propel the rolling carrier. The full mathematical model as well as its reduced version are derived, and the inverse dynamics is addressed. It is shown that if the rotors are mounted on three orthogonal axes, any feasible kinematic trajectory of the rolling robot is dynamically realizable. For the case of only two orthogonal axes of the actuation the condition of dynamic realizability of a feasible kinematic trajectory is established. The implication of this condition to motion planning in dynamic formulation is explored under a case study. It is shown there that in maneuvering the robot by tracing circles on the sphere surface the dynamically realizable trajectories are essentially different from those resulted from kinematic models.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
