DESIGN AND SIMULATION OF A SPHERICAL MOBILE ROBOT

Francisc KADAR, Mihai Olimpiu TĂTAR

Abstract


In this paper the authors presents general information about the actual state of the spherical mobile robots research field. The first part of the paper contains aspects regarding the classification and locomotion modes of the spherical mobile robots. The second part of the article present an original design of double pendulum driven spherical mobile robot. The mechanical structure and control system of the proposed robot is presented. The paper contains the mathematical model and graphical user control interface of the spherical mobile robot. Also, the paper presents the simulation results of the dynamic behavior and locomotion process of the proposed robot, performed in MATLAB.


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References


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