The Structure and Kinematic Modeling of a Spherical Robot

This paper deals with the construction and dynamics of a spherical mobile robot. The robot longitudinal and lateral motions are obtained by replacing the mass centre of the internal driving unit (IDU) with two sets of orthogonal actuation systems. There are so many stabilization control systems and techniques but considering the motion type and the usage of the robot, we have to design proper and stable rolling robot. Most of our simulations and analysis and theories are related to optimal speed and motional control. As we know there are so many fields that these types of spherical robots can be used such as water pipes, fire fighting mission, space travelling etc. and the most advantage of them is free movements of all directions in unknown paths