Modeling and control of a spherical rolling robot: a decoupled dynamics approach
نویسندگان
چکیده
منابع مشابه
A new decoupled sliding mode control approach for the linear motion of a spherical rolling robot
This paper investigates the dynamics and control aspects of the linear motion of a pendulum-driven spherical rolling robot. The dynamic model is deduced for the linear motion of a spherical robot by using the Euler-Lagrange formulation. By appropriate definitions the equations of motion for the robotic system are transformed into the state space form. A novel decoupled sliding mode control appr...
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ژورنال
عنوان ژورنال: Robotica
سال: 2011
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s0263574711000956