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- W2362631251 abstract "A novel spherical omnidirectional rolling robot was proposed. The dynamic analysis and simulation of the robot on a slope were developed. The kinematic model for the spherical robot was established according to the nonholonomic constraint acting on it. On the basis of its structural characteristics,its dynamic model was derived applying the Lagrange-Routh equations. A method was given to eliminate the unknown Lagrange multipliers. A complete dynamic model for the spherical robot was obtained. Then using the Simulink tools and S-function in MATLAB,a simulation model that described the complete dynamic equations of the robot was established. The motion examples were given to illustrate the dynamic analysis and simulation of the spherical robot. The results demonstrate the validity of the model and the effectiveness of the analysis method." @default.
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- W2362631251 date "2007-01-01" @default.
- W2362631251 modified "2023-09-24" @default.
- W2362631251 title "Dynamic Modeling and Simulation of Spherical Omnidirectional Rolling Robot" @default.
- W2362631251 hasPublicationYear "2007" @default.
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