We consider a mathematical model of the continuous movement of a spherical robot over an arbitrary uneven surface, as well as a reduced model that excludes slipping and twisting. State-feedback control laws are synthesized to ensure that the robot moves along a given trajectory. The effectiveness of the proposed control laws is demonstrated by computer simulation results. A possible implementation of an electromagnetic drive for generating the robot’s motion is discussed.
Balandin et al. (Sun,) studied this question.