Numerical Simulations 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. The controlled equations of motion are solved numerically using a predictor-corrector continuation method, starting from an initial solution obtained via a direct method, to realize trajectory tracking and obstacle avoidance maneuvers.

51 pages, 59 figures, 13 tables, 2 algorithms. arXiv admin note: substantial text overlap with arXiv:1708.03829