This paper describes a prototype and analytical studies of a spherical rolling robot, a new design of a nonholonomic robot system. The spherical robot is driven together by an internal linear motor, continuously changing the center of gravity, and external wind thrust. A mathematical model of the robot’s motion was developed using Maggi’s equations without the Lagrange’s multipliers from a view of the nonholonomic constraint. An obstacle avoidance experiment was carried out to analyze the law of motion of the robot driven three ways: external wind driven, internal motor driven, and a combination of both. The results demonstrate that the proposed dynamic model is valid for the spherical robots driven by the different ways for environmental exploration.
Dynamic Modeling and Simulation of the Internal- and External-Driven Spherical Robot
Journal of Aerospace Engineering ; 25 , 4 ; 636-640
2011-09-10
52012-01-01 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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