Path Following Control of a Spherical Robot Rolling on an Inclined Plane
In this paper, the path following control of a spherical robot rolling without slipping on an inclined plane is discussed. We first study the kinematic constraints of the spherical robot and develop the dynamic model of the robot through the constrained Lagrange method. We then present a state space...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IFSA Publishing, S.L.
2013-05-01
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| Series: | Sensors & Transducers |
| Subjects: | |
| Online Access: | http://www.sensorsportal.com/HTML/DIGEST/may_2013/Special_issue/P_SI_339.pdf |