Lagrangian model, simulation and control of a spherical robot


The derivation of the Lagrangian for different configurations of spherical robots is explored through the use of the Euler Lagrange equations and additional constrains for the generalized velocities. The degrees of freedom are specified with rotation matrices and linear displacement vectors, allowing to determine the necessary elements for all the models in… (More)
DOI: 10.1109/ICEEE.2013.6676019


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