Spherical-Robot-Norma-Dynemics
This is the dynamics that has been used in the following paper:
https://arxiv.org/pdf/1908.02243
Abstract:
This paper discusses the design, modeling, and control of Norma, a novel 2 DOF mobile spherical robot (SR). The propelling mechanism of this robot consists of two actuators: a slider, and a rotational pendulum located on the SR's diagonal shaft. The slider can translate along the shaft and shift the robot's center of gravity towards the robot's sides. The pendulum rotates around the shaft to propel the SR to roll forward and backward. These two actuators enable the SR to perform both rolling and turning maneuvers as a nonholonomic robot. The advantage of the proposed mechanical design lies in its convenience of physical implementation, agility, and accurate mathematical model. The Euler Lagrange approach is utilized to derive the dynamics of the proposed mechanical structure using minimum simplifications possible. Further, a path tracking control scheme is introduced for a smooth trajectory. Finally, simulations are carried out in MATLAB to verify the accuracy of the mathematical model and the effectiveness of the controller against experimental results.
Zitieren als
Design, modeling, and control of norma: a slider & pendulum-driven spherical robot Authors: Saeed Moazami, M Naddaf-Sh, Srinivas Palanki, Hassan Zargarzadeh Preprint: https://arxiv.org/pdf/1908.02243
Kompatibilität der MATLAB-Version
Plattform-Kompatibilität
Windows macOS LinuxKategorien
- Robotics and Autonomous Systems > ROS Toolbox >
- Engineering > Electrical and Computer Engineering > Robotics >
Tags
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!Live Editor erkunden
Erstellen Sie Skripte mit Code, Ausgabe und formatiertem Text in einem einzigen ausführbaren Dokument.
matlab
Versionen, die den GitHub-Standardzweig verwenden, können nicht heruntergeladen werden
Version | Veröffentlicht | Versionshinweise | |
---|---|---|---|
1.0.1 | a picture of the robot is added |
|
|
1.0.0 |
|