Abstract

Dexterity in human hand is connected with the fingertip rolling ability. Controlling the rolling motion of a spherical robot's tip upon a contacted surface is in this work addressed by solving the control of a wheel's rolling motion, moving upon the robot tip's line path. A model free prescribed performance controller of low complexity is proposed guaranteeing the wheel's rolling under any surface friction conditions. The stability of the closed loop system is proved while simulation results verify the achievement of the wheel's rolling motion towards a desired target location.

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