Kinematics Analysis of a Fully Driven Single Pendulum Spherical Mobile Robot

Abstract

In order to further improve the reliability of the spherical robot and enrich its motion forms, a fully driven single pendulum spherical robot is proposed. An innovative way of kinematic modeling from pendulum to spherical shell is proposed. The velocity Jacobian matrix and the inverse kinematics solution of velocity level in the slope of the spherical robot are given. The simulation results verify the controllability of the spherical robot and the correctness of the kinematic model.