首页|Study Results from Department of Information Engineering Provide New Insights in to Robotics (Lie-group Modeling and Simulation of a Spherical Robot, Actuated By a Yoke-pendulum System, Rolling Over a Flat Surface Without Slipping)
Study Results from Department of Information Engineering Provide New Insights in to Robotics (Lie-group Modeling and Simulation of a Spherical Robot, Actuated By a Yoke-pendulum System, Rolling Over a Flat Surface Without Slipping)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News – Investigators publish new report on Robotics. Acc ording to news reporting originating from Ancona, Italy, by NewsRx editors, the research stated, “The present paper aims at introducing a mathematical model of a spherical robot expressed in the language of Lie -group theory. Since the main component of motion is rotational, the space SO(3)3 of three-dimensional rotati ons plays a prominent role in its formulation.” Our news editors obtained a quote from the research from the Department of Infor mation Engineering, “Because of friction to the ground, rotation of the external shell results in translational motion. Rolling without slipping implies a const raint on the tangential velocity of the robot at the contact point to the ground which makes it a non-holonomic dynamical system. The mathematical model is obta ined upon writing a Lagrangian function that describes the mechanical system and by the Hamilton minimal -action principle modified through d’Alembert virtual w ork principle to account for non -conservative control actions as well as fricti onal reactions. The result of the modeling appears as a series of non-holonomic Euler-Poincare equations of dynamics plus a series of auxiliary equations of rec onstruction and advection type.”
AnconaItalyEuropeEmerging Technolo giesMachine LearningMathematicsRobotRoboticsDepartment of Information Engineering
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