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arXiv · 1904.13027

Numerical Simulations of a Rolling Ball Robot Actuated by Internal Point Masses

Vakhtang Putkaradze·Stuart Rogers
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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.

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Vakhtang Putkaradze, Stuart Rogers. 2019-04-30. Numerical Simulations of a Rolling Ball Robot Actuated by Internal Point Masses. https://doi.org/10.3934/naco.2020021

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