Path Tracking Control of a Spherical Robot with Pendulum-Like Driver

Path Tracking Control of a Spherical Robot with Pendulum-Like Driver

연구 분야: Software Development

학회: International Conference on Mathematical Modeling and Supercomputer Technologies

We consider the path tracking problem for a rolling spherical robot on an arbitrary uneven surface. A full mathematical model of motion as well as its reduced version without slipping and twisting are derived. A state-feedback control laws that provide robot motion along a given trajectory are synthesized. The effectiveness of the proposed control laws is demonstrated by results of computer simulation.