Full Nonlinear Nonholonomic Dynamics and Motion Analysis of a 3-DoF Underactuated Spherical Rolling Robot

Lakshmesha Krishnapa, Ahnaf Sharaar Mazahar, Seyed Amir Tafrishi

This paper presents a full nonlinear constrained dynamic model of MonoRollBot, a novel 3-DoF spherical rolling robot driven by a single motor, a lead-screw transmission, and a spri…