The Kinematics and Dynamics Motion Analysis of a Spherical Robot

Tresna Dewi, Pola Risma, Yurni Oktarina, Lin Prasetyani, Zarqa Mulya

Abstract


Mobile robot application has reach more aspect of life in industry and domestic. One of the mobile robot types is a spherical robot whose components are shielded inside a rigid cell. The spherical robot is an interesting type of robot that combined the concept of a mobile robot and inverted pendulum for inner mechanism. This combination adds to more complex controllerdesignthantheothertypeofmobilerobots.Asidefrom these challenges, the application of a spherical robot is extensive, from being a simple toy, to become an industrial surveillance robot. This paper discusses the mathematical analysis of the kinematics and dynamics motion analysis of a spherical robot. The analysis combines mobile robot and pendulum modeling as the robot motion generated by a pendulum mechanism. This paper is expected to give a complete discussion of the kinematics and dynamics motion analysis of a spherical robot.

Keywords


invertedpendulum; mobilerobot; pathplanning; pendulum; spherical robot

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