The Kinematics and Dynamics Motion Analysis of a Spherical Robot
| Main Authors: | Dewi, Tresna; Politeknik Negeri Sriwijaya, Risma, Pola; Politeknik Negeri Sriwijaya, Oktarina, Yurni; Politeknik Negeri Sriwijaya, Prasetyani, Lin; Politeknik Manufaktur ASTRA, Mulya, Zarqa; Politeknik Negeri Sriwijaya |
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| Format: | Article info application/pdf eJournal |
| Bahasa: | eng |
| Terbitan: |
IAES Indonesia Section
, 2019
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| Subjects: | |
| Online Access: |
http://journal.portalgaruda.org/index.php/EECSI/article/view/1937 http://journal.portalgaruda.org/index.php/EECSI/article/view/1937/1466 |
Daftar Isi:
- Mobile robot application has reach more aspect of life in industry and domestic. One of the mobile robot types is a spherical robot whose components are shielded inside a rigid cell. The spherical robot is an interesting type of robot that combined the concept of a mobile robot and inverted pendulum for inner mechanism. This combination adds to more complex controllerdesignthantheothertypeofmobilerobots.Asidefrom these challenges, the application of a spherical robot is extensive, from being a simple toy, to become an industrial surveillance robot. This paper discusses the mathematical analysis of the kinematics and dynamics motion analysis of a spherical robot. The analysis combines mobile robot and pendulum modeling as the robot motion generated by a pendulum mechanism. This paper is expected to give a complete discussion of the kinematics and dynamics motion analysis of a spherical robot.