Modelling and simulation analysis of rolling motion of spherical robot

• Main Authors: Kamis, N.N., Embong, Abd Halim, Ahmad, Salmiah
• Format: Conference or Workshop Item
• Language: English; English
• Published: IOP Publishing 2017
• Subjects: T Technology (General)
• Online Access: http://irep.iium.edu.my/62883/1/62883%20Modelling%20and%20Simulation%20Analysis%20of%20Rolling%20Motion.pdf; http://irep.iium.edu.my/62883/2/62883%20Modelling%20and%20Simulation%20Analysis%20of%20Rolling%20Motion%20SCOPUS.pdf; http://irep.iium.edu.my/62883/; http://iopscience.iop.org/article/10.1088/1757-899X/260/1/012014/pdf

This paper presents the findings of modelling, control and analysis of the spherical rolling robot based on pendulum driven within the simulation environment. The spherical robot is modelled using Lagrange function based on the equation of rolling motion. PD-type Fuzzy logic controller (FLC) was...