5 research outputs found

    Unified Representation Of Decoupled Dynamic Models For Pendulum-Driven Ball-Shaped Robots

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    Dynamic models describing the ball-robot motion form the basis for developments in ball-robot mechanics and motion control systems. For this paper, we have conducted a literature review of decoupled forward-motion models for pendulum-driven ball-shaped robots. The existing models in the literature apply several different conventions in system definition and parameter notation. Even if describing the same mechanical system, the diversity in conventions leads into dynamic models with different forms. As a result, it is difficult to compare, reproduce and apply the models available in the literature. Based on the literature review, we reformulate all common variations of decoupled dynamic forward-motion models using a unified notation and formulation. We have verified all reformulated models through simulations, and present the simulation results for a selected model. In addition, we demonstrate the different system behavior resulting from different ways to apply the pendulum reaction torque, a variation that can be found in the literature. For anyone working with the ball-robots, the unified compilation of the reformulated dynamic models provides an easy access to the models, as well as to the related work.Peer reviewe

    Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots

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    This study discusses kinematic and dynamic precession models for a rolling ball with a finite contact area and a point contact respectively. In literature, both conventions have been applied. In this paper, we discuss in detail the kinematic and dynamic models to describe the ball precession and the radius of a circular rolling path. The kinematic model can be used if the contact area and friction coefficient are sufficient to prevent slippage. The dynamic precession model has significance in multi-body simulation environments handling rolling balls with ideal point contacts. We have applied both the kinematic and dynamic precession model to evaluate the no-slip condition of the existing GimBall-robot. According to the result, the necessity of an external precession torque may cause slipping at lower velocities than expected if ignoring this torque.Peer reviewe

    Как ΡƒΠΏΡ€Π°Π²Π»ΡΡ‚ΡŒ ΡˆΠ°Ρ€ΠΎΠΌ Π§Π°ΠΏΠ»Ρ‹Π³ΠΈΠ½Π° ΠΏΡ€ΠΈ ΠΏΠΎΠΌΠΎΡ‰ΠΈ Ρ€ΠΎΡ‚ΠΎΡ€ΠΎΠ². II

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    Π’ Ρ€Π°Π±ΠΎΡ‚Π΅ исслСдуСтся ΡƒΠΏΡ€Π°Π²Π»Π΅Π½ΠΈΠ΅ ΠΏΡ€ΠΈ ΠΏΠΎΠΌΠΎΡ‰ΠΈ Ρ‚Ρ€Π΅Ρ… гиростатов Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΠ΅ΠΌ динамичСски нСсиммСтричного ΡƒΡ€Π°Π²Π½ΠΎΠ²Π΅ΡˆΠ΅Π½Π½ΠΎΠ³ΠΎ ΡˆΠ°Ρ€Π° Π½Π° плоскости, ΠΏΡ€ΠΈ условии, Ρ‡Ρ‚ΠΎ ΡˆΠ°Ρ€ катитсябСз ΠΏΡ€ΠΎΡΠΊΠ°Π»ΡŒΠ·Ρ‹Π²Π°Π½ΠΈΡ Π² Ρ‚ΠΎΡ‡ΠΊΠ΅ ΠΊΠΎΠ½Ρ‚Π°ΠΊΡ‚Π°. Показана полная алгСбраичСская ΡƒΠΏΡ€Π°Π²Π»ΡΠ΅ΠΌΠΎΡΡ‚ΡŒ Π΄Π°Π½Π½ΠΎΠΉ систСмы, ΡƒΠΊΠ°Π·Π°Π½Ρ‹ Π·Π°ΠΊΠΎΠ½Ρ‹ управлСния, ΠΎΠ±Π΅ΡΠΏΠ΅Ρ‡ΠΈΠ²Π°ΡŽΡ‰ΠΈΠ΅ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΠ΅ вдоль Π·Π°Π΄Π°Π½Π½ΠΎΠΉ Ρ‚Ρ€Π°Π΅ΠΊΡ‚ΠΎΡ€ΠΈΠΈ Π½Π° плоскости ΠΈ Π·Π°Π΄Π°ΡŽΡ‰ΠΈΠ΅ Π½Π΅ΠΎΠ±Ρ…ΠΎΠ΄ΠΈΠΌΡƒΡŽ ΠΎΡ€ΠΈΠ΅Π½Ρ‚Π°Ρ†ΠΈΡŽ систСмы; ΠΏΡ€ΠΈΠ²Π΅Π΄Π΅Π½Ρ‹ явныС Π·Π°ΠΊΠΎΠ½Ρ‹ управлСния, ΠΎΡΡƒΡ‰Π΅ΡΡ‚Π²Π»ΡΡŽΡ‰ΠΈΠ΅ ΠΏΡ€ΠΎΡΡ‚Π΅ΠΉΡˆΠΈΠ΅ двиТСния рассматриваСмой систСмы

    An analysis of the motion planning problem for a spherical rolling robot driven by internal rotors

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