Stabilization of a Spherical Robot with an Internal Pendulum During Motion on an Oscillating Base

This paper is concerned with the experimental development of the stabilizing regulator for a spherical pendulum-type robot moving on an oscillating base. Using a mathematical model of the motion of the spherical robot with an internal pendulum mechanism, a regulator stabilizing the lower position of the pendulum is developed. The developed regulator has been tested in practice by means of a real prototype of the spherical robot. The results of real experiments are presented to assess the stabilization of the lower position of the pendulum of the spherical robot during its motion along a straight line on a plane executing longitudinal oscillations, and during the stabilization of the lower position of the pendulum, when the spherical shell remains fixed relative to the plane.