A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum actuated spherical robot provides space for mounting sensors at the yoke. We study the non-linear dynamics of a pendulum-actuated spherical robot to analyze the dynamics of internal assembly (yoke) for mounting sensors. For such robots, we provide a coupled dynamic model that takes care of the relationship between forward and sideways motion. We further demonstrate the effects of wobbling and precession captured by our model when the bot is controlled to execute a turning maneuver while moving with a moderate forward velocity, a practical situation encountered by spherical robots moving in an indoor setting. A simulation setup based on the developed model provides visualization of the spherical robot motion.
翻译：球体机器人有许多实际的优势,因为整个电子机器人都受到船体的保护,并且可以很容易地由任何无人驾驶航空飞行器(UAV)携带。然而,由于为传感器寻找阵列,其使用有限。 Pentulum 驱动球体机器人为在枷锁上安装传感器提供了空间。我们研究了一个穿透式球体机器人的非线性动态,以分析安装传感器的内部组装(yoke)动态。对于这些机器人,我们提供了一种结合的动态模型,以照顾前向和侧向运动之间的关系。我们进一步展示了在机器人被控制以中度前进速度移动时,我们模型所捕捉到的交织和预割的效果,这是球体机器人在室内移动时遇到的一种实际情况。一个基于开发模型的模拟装置,提供了球体机器人运动的视觉化。
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