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Keywords: Multi-body dynamics model
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Journal Articles
Industrial Robot (2022) 49 (2): 332–343.
Published: 23 November 2021
... of the spherical robot during the rotation to establish the multi-body dynamics model of the XK-I spherical robot. Due to the serious coupling problem of the dynamic model, the motion control state equation is constructed using linearization and decoupling. The XK-I spherical robot PSO-ADRC motion controller...
