1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100083, China; 2. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
王亮清, 孙汉旭, 贾庆轩. 球形机器人的圆周运动分析[J]. 机器人, 2007, 29(1): 56-60,66..
WANG Liang-qing, SUN Han-xu, JIA Qing-xuan. Circle Motion Analysis on a Spherical Robot. ROBOT, 2007, 29(1): 56-60,66..
Abstract：Using Kane approach,the circle motion kinematics and dynamics of a spherical robot are analyzed and the dynamic model is derived.The model is simulated,and an experiment is made with the Spherical Robot Ⅲ.Simulation and experimental results support the circle motion analysis.
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