Circle Motion Analysis on a Spherical Robot

WANG Liang-qing, SUN Han-xu, JIA Qing-xuan. Circle Motion Analysis on a Spherical Robot[J]. ROBOT, 2007, 29(1): 56-60,66.

Citation:

WANG Liang-qing, SUN Han-xu, JIA Qing-xuan. Circle Motion Analysis on a Spherical Robot[J]. ROBOT, 2007, 29(1): 56-60,66.

Citation:

WANG Liang-qing, SUN Han-xu, JIA Qing-xuan. Circle Motion Analysis on a Spherical Robot[J]. 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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