This article is cited in 1 paper

Original papers

On the control of a robot-ball using two omni-wheels

A. P. Ivanov

Moscow Institute of Physics and Technology Inststitutskii per. 9, Dolgoprudnyi, 141700, Russia

Abstract: We discuss the dynamics of balanced body of spherical shape on a rough plane, managed by the movement of the built-in shell. These two shells are set in relative motion due to rotation of the two symmetrical omni-wheels. It is shown that the ball can be moved to any point on the plane along a straight or (in the case of the initial degeneration) polygonal line. Moreover, any prescribed curvilinear trajectory of the ball center can be followed by appropriate control strategy as far as the diameter, connecting both wheels, is non-vertical.

Keywords: robot-ball, omni-wheel, control of motion.

UDC: 532.5

MSC: 37J60, 37J35, 70E18, 70F25, 70H45

Received: 05.03.2015
Revised: 26.03.2015