Controlling spherical mobile robot in a two-parametric friction model

Abstract

The theoretical mechanical model of the spherical robot with the flywheels located in a sphere is considered. The described design is intended for the motion control of a sphere on various trajectories. In the paper, control algorithms of a sphere on basic trajectories are investigated; the movements from rotation on the point and the movements on a straight line piece before the basic movements on curvilinear trajectories are considered. The paper describes dynamical models of a sphere robot, different models of friction, as well as a two-parametrical model as the main model of friction. Technical possibility of realization of a sphere robot with flywheels is proved.