Kinematics of Spherical Robots Rolling over 3D Terrains
Joint Authors
Zargarzadeh, Hassan
Moazami, Saeed
Palanki, Srinivas
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-12-16
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
Although the kinematics and dynamics of spherical robots (SRs) on flat horizontal and inclined 2D surfaces are thoroughly investigated, their rolling behavior on generic 3D terrains has remained unexplored.
This paper derives the kinematics equations of the most common SR configurations rolling over 3D surfaces.
First, the kinematics equations for a geometrical sphere rolling over a 3D surface are derived along with the characterization of the modeling method.
Next, a brief review of current mechanical configurations of SRs is presented as well as a novel classification for SRs based on their kinematics.
Then, considering the mechanical constraints of each category, the kinematics equations for each group of SRs are derived.
Afterward, a path-tracking method is utilized for a desired 3D trajectory.
Finally, simulations are carried out to validate the developed models and the effectiveness of the proposed control scheme.
American Psychological Association (APA)
Moazami, Saeed& Zargarzadeh, Hassan& Palanki, Srinivas. 2019. Kinematics of Spherical Robots Rolling over 3D Terrains. Complexity،Vol. 2019, no. 2019, pp.1-14.
https://search.emarefa.net/detail/BIM-1132719
Modern Language Association (MLA)
Moazami, Saeed…[et al.]. Kinematics of Spherical Robots Rolling over 3D Terrains. Complexity No. 2019 (2019), pp.1-14.
https://search.emarefa.net/detail/BIM-1132719
American Medical Association (AMA)
Moazami, Saeed& Zargarzadeh, Hassan& Palanki, Srinivas. Kinematics of Spherical Robots Rolling over 3D Terrains. Complexity. 2019. Vol. 2019, no. 2019, pp.1-14.
https://search.emarefa.net/detail/BIM-1132719
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1132719