{"title":"全驱动单摆球形移动机器人运动学分析","authors":"Minggang Li, Hanxu Sun, Long Ma, Ping Sun","doi":"10.1109/ICARCE55724.2022.10046480","DOIUrl":null,"url":null,"abstract":"In order to further improve the reliability of the spherical robot and enrich its motion forms, a fully driven single pendulum spherical robot is proposed. An innovative way of kinematic modeling from pendulum to spherical shell is proposed. The velocity Jacobian matrix and the inverse kinematics solution of velocity level in the slope of the spherical robot are given. The simulation results verify the controllability of the spherical robot and the correctness of the kinematic model.","PeriodicalId":416305,"journal":{"name":"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)","volume":"227 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Kinematics Analysis of a Fully Driven Single Pendulum Spherical Mobile Robot\",\"authors\":\"Minggang Li, Hanxu Sun, Long Ma, Ping Sun\",\"doi\":\"10.1109/ICARCE55724.2022.10046480\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In order to further improve the reliability of the spherical robot and enrich its motion forms, a fully driven single pendulum spherical robot is proposed. An innovative way of kinematic modeling from pendulum to spherical shell is proposed. The velocity Jacobian matrix and the inverse kinematics solution of velocity level in the slope of the spherical robot are given. The simulation results verify the controllability of the spherical robot and the correctness of the kinematic model.\",\"PeriodicalId\":416305,\"journal\":{\"name\":\"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)\",\"volume\":\"227 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-12-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICARCE55724.2022.10046480\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICARCE55724.2022.10046480","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Kinematics Analysis of a Fully Driven Single Pendulum Spherical Mobile Robot
In order to further improve the reliability of the spherical robot and enrich its motion forms, a fully driven single pendulum spherical robot is proposed. An innovative way of kinematic modeling from pendulum to spherical shell is proposed. The velocity Jacobian matrix and the inverse kinematics solution of velocity level in the slope of the spherical robot are given. The simulation results verify the controllability of the spherical robot and the correctness of the kinematic model.
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