On the Optimal Control of a Rolling Ball Robot Actuated by Internal Point Masses

Abstract

The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. Application of the variational Pontryagin's minimum principle yields the ball's controlled equations of motion, a solution of which obeys the ball's uncontrolled equations of motion, satisfies prescribed initial and final conditions, and minimizes a prescribed performance index.

30 pages, 16 figures

References in corpus (6)

• Dynamics and Control of a Spherical Robot with an Axisymmetric Pendulum Actuator
• On the Dynamics of a Rolling Ball Actuated by Internal Point Masses
• On the Optimal Control of a Rolling Ball Robot Actuated by Internal Point Masses
• Geometric Kinematic Control of a Spherical Rolling Robot
• Constraint Control of Nonholonomic Mechanical Systems
• On the Normal Force and Static Friction Acting on a Rolling Ball Actuated by Internal Point Masses

Cited by in corpus (2)

• On the Optimal Control of a Rolling Ball Robot Actuated by Internal Point Masses
• Numerical Simulations of a Rolling Ball Robot Actuated by Internal Point Masses