Comparative Analysis of the Dynamics of a Spherical Robot with a Balanced Internal Platform Taking into Account Different Models of Contact Friction

Abstract

The subject of this paper is a spherical robot with an internal platform with four classic-type omniwheels. The motion of the spherical robot on a horizontal surface is considered and its kinematics is described. The aim of the research is to study the dynamics of the spherical robot with different levels of detailing of the contact friction model. Nonholonomic models of the dynamics of the robot with different levels of detailing of the contact friction model are constructed. The programmed control of the motion of the spherical robot using elementary maneuvers is proposed. A simulation of motion is carried out and the efficiency of the proposed control is confirmed. It is shown that, at low speeds of motion of the spherical robot, it is allowed to use a model obtained under the assumption of no slipping between the sphere and the floor. The influence of the contact friction model at high-speed motions of the spherical robot on its dynamics under programmed control is demonstrated. This influence leads to the need to develop more accurate models of the motion of a spherical robot and its contact interaction with the supporting surface in order to increase the accuracy of motion control based on these models.

Control of a Spherical Robot with a Nonholonomic Omniwheel Hinge Inside

“…The problem of controlling the spherical robot (spherical shell) using various mechanisms that set it in motion is one of the urgent problems of nonholonomic mechanics and robotics. These are rotary mechanisms [7][8][9][10][11][12], pendulum mechanisms [13][14][15][16][17], mechanisms with omniwheels [18][19][20] and some others [21,22]. In these works, the equations of motion of the studied mechanical systems are given and control actions for the realization of motion are obtained.…”