Dynamics and Trajectory Tracking of a Spherical Rolling Robot on an Inclined Plane

Tao Yu; Han Xu Sun; Qing Xuan Jia; Yan Heng Zhang; Wei Zhao

doi:10.4028/www.scientific.net/AMR.625.151

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 625Dynamics and Trajectory Tracking of a Spherical...

Dynamics and Trajectory Tracking of a Spherical Rolling Robot on an Inclined Plane

Abstract:

In this paper, we derive the dynamics of a spherical rolling robot, called BYQ-III, rolling without slipping on an inclined plane through the constrained Lagrange method. We present a state space realization of this constrained system, and develop a control algorithm for stabilizing the robot to track a desired trajectory on the inclined plane based on input-output feedback linearization. The validity of the proposed control scheme is then verified through simulation study.

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Periodical:

Advanced Materials Research (Volume 625)

Pages:

151-154

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.625.151

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Online since:

December 2012

Authors:

Tao Yu, Han Xu Sun, Qing Xuan Jia, Yan Heng Zhang, Wei Zhao

Keywords:

Feedback Linearization, Inclined Plane, Spherical Robot, Trajectory Tracking

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