Kinematic Modeling of Spherical Rolling Robots with a Three-Omnidirectional-Wheel Drive Mechanism

The spherical rolling robot (SRR) is an underactuated system with nonholonomic constraints. The proposed drive mechanism for the mobile robot is comprised of three omnidirectional wheels to make the omnidirectional movement of the robot on the floor. The kinematic model of the SRR is derived via nonholonomic constraints. Numerical simulation is analyzed. Results indicate that the robot can track the desired trajectory and maintain its balance stably at the same time.