Numerical Simulations of a Rolling Ball Robot Actuated by Internal Point Masses
Optimization and Control
2021-03-02 v3 Dynamical Systems
Abstract
The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. The controlled equations of motion are solved numerically using a predictor-corrector continuation method, starting from an initial solution obtained via a direct method, to realize trajectory tracking and obstacle avoidance maneuvers.
Keywords
Cite
@article{arxiv.1904.13027,
title = {Numerical Simulations of a Rolling Ball Robot Actuated by Internal Point Masses},
author = {Vakhtang Putkaradze and Stuart Rogers},
journal= {arXiv preprint arXiv:1904.13027},
year = {2021}
}
Comments
51 pages, 59 figures, 13 tables, 2 algorithms. arXiv admin note: substantial text overlap with arXiv:1708.03829