Quasistatic analysis and trajectory design of spherical robot

A design principle of the spherical robot, which carries out the turning and driving ahead motion independently, is proposed to deal with the complex calculation and bad real-time problem of present spherical robot in the process of the dynamic analysis and control system design. The quasistatic kinematic equations about two-input and five-output state variables are derived by using the projection method of rotation speed vectors, which can be used to control the robot when the speeds of motors are lower. A new trajectory strategy called point-to-point method based on decoupling motion is developed. Those can be used to approximately realize any desired path.