Control of the spherical robot by means of fly-wheels

The theoretical mechanical model of the spherical robot with the flywheels located in a sphere is considered. The described design intends for motion control of a sphere on various trajectories. In work control algorithms of a sphere on basic trajectories are investigated, the movements from rotation on the point and the movements on a straight line piece before the basic movements on curvilinear trajectories are considered. Dynamical models of a sphere robot, different models of friction are considered, as the main model of friction the two-parametrical model is considered. In work technical capability of realization of a sphere robot with flywheels is proved.