A Novel Method to Model the Dynamics of an Uniball Robot
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In this paper the kinematics and dynamics of a uniball robot is demonstrated. The motion of a uniball robot is derived from the dynamics of a sphere rolling on a surface which is considered as a motion about a fixed point. The equations of motion are derived using Newton-Euler method incorporating the geometrical features of the surface. A uniball-robot can be considered as a Routh’s sphere whose center of mass is not at the geometrical center and have equal principal moments of inertia in the plane perpendicular to the axis connecting the center of mass and the geometrical center. The Euler angles are obtained using the Meusnier’s theorem which deals with the evolution of the surface as the robot moves along.
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Obstacle Detection in Cluttered Traffic Environment Based on Candidate Generation and Classification
2006 ◽
Vol 1
(4)
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pp. 93
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2009 ◽
Vol 06
(04)
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pp. 631-656
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