Kenji Kimura¹, Yusuke Abematsu², Hiroyasu Hirai³, Kazuo Ishii^3
1Department of Control Engineering, National Institute of Technology, Matsue College, 14-4 Nishi-ikuma-cho, Matsue-shi, Shimane, 690-8518, Japan
²Mathematics in General Education, National Institute of Technology, Kagoshima College, 1460-1 Shinko, Hayato-cho, Kirishima-shi, Kagoshima 899-5193, Japan
³Graduate School of Life Science and Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu-shi 808-0196, Fukuoka, Japan
Pages 233–239
ABSTRACT
A driving roller arrangement of hemisphere is one of the important problems by omnidirectional sphere conveyance. In this research, the roller arrangement problem, viewed as an evaluation function, is thought of as mean of roller’s kinetic energy with respect to the sphere direction. Furthermore, theoretically, we calculate the evaluation function, and find the contact point such that the evaluated value is minimal.

ARTICLE INFO
Article History
Received 10 November, 2021
Accepted 16 August 2022

Keywords
Omnidirectional movement
Kinetic energy
Angular velocity vector of the sphere


JRNAL9305

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