IEEE - Institute of Electrical and Electronics Engineers, Inc. - Open-loop trajectory planning and nonlinear control for underactuated spherical wheel mobile robot (Ballbot)

2016 24th Iranian Conference on Electrical Engineering (ICEE)

Author(s): H. Zabihi ; H. A. Talebi ; A. A. Suratgar
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2016
Conference Location: Shiraz, Iran
Conference Date: 10 May 2016
Page(s): 549 - 554
ISBN (Electronic): 978-1-4673-8789-7
DOI: 10.1109/IranianCEE.2016.7585583
Regular:

This paper investigates three-dimensional dynamic model of underactuated spherical wheel mobile robot (Ballbot) in the presence of input coupling and friction. The way of how such a robot moves is... View More

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