Abstract
Three Euler angles were defined to describe the attitudes of sphere in plate-ball system. Based on these angles, the seven independent state variables have been developed, and three nonholonomic constraints suffered in the actual motion of the spherical robot were proposed. The dynamic equations were derived applying the Lagrangian multiplier method. The state of rolling ahead has been simulated according to the derived dynamic equations, which verifies the correctness of model formation and the validity of the equations. The results provide the theoretical rationale for further control of the spherical robot.
| Original language | English |
|---|---|
| Pages (from-to) | 43-46 |
| Number of pages | 4 |
| Journal | Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology |
| Volume | 40 |
| Issue number | 1 |
| State | Published - Jan 2008 |
| Externally published | Yes |
Keywords
- Euler angle
- Lagrangian multiplier method
- Nonholonomic constraint
- Spherical robot
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