No abstract

In this work we investigate the motion of a homogeneous ball rolling without slipping on uniformly rotating horizontal and inclined planes under the action of a constant external force supplemented with the moment of rolling friction, which depends linearly on the angular velocity of the ball. We systematise well-known results and supplement them with the stability analysis of partial solutions of the system. We also perform an experimental investigation whose results support the adequacy of the rolling friction model used. Comparison of numerical and experimental results has shown a good qualitative agreement.

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This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits -the simplest motions such as acceleration and deceleration during the motion in a straight line, rotation through a given angle and their combination. Also, the controlled motion of the system along a straight line with a constant acceleration is considered. For this problem the algorithm for calculating the control torques is given and it is shown that the resulting reduced system has the first integral of motion.