Nonlinear Modeling of Ball Rolling Motion on a Horizontal Surface for Improving Grasp-Less Handling by Applying Rolling Friction Torque

Abstract In this study, rolling friction was applied to model the rolling motion of a ball on a horizontal surface to achieve grasp-less handling operation with a dual-arm SCARA robot. The rolling friction acts in the direction that prevents the ball from rolling, i.e., in the direction opposite to the angular velocity. Here, rolling friction is a torque, i.e., rolling friction torque. In the model without rolling friction torque, the ball moves relative to the plate no matter how small the acceleration of the plate on the horizontal plane. This is different from the real phenomenon. Rolling friction torque is applied to the rolling motion of a ball on a horizontal plane in a form that allows for a frequency response.