On the Dynamics of a Ball Rolling on a Tipping Plane

  • L. P. LausEmail author
  • J. M. Selig
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The model of a ball rolling on an inclined plane is derived using screw theory and Lie algebra. The plane is supported by a gimbal and the inclination can be controlled in two orthogonal directions. The model includes effects due gravity, Coriolis and centripetal torques. Keywords: screw theory; Lie algebra; dynamic model; ball rolling on plane; control, simulation.


screw theory Lie algebra dynamic model ball rolling on plane control simulation 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Federal University of Technology – Paraná (UTFPR)Curitiba - PRBrazil
  2. 2.School of Engineering, London South Bank UniversityLondonU.K.

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