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IFToMM World Congress on Mechanism and Machine Science

IFToMM WC 2019: Advances in Mechanism and Machine Science pp 1959–1968Cite as

On the Dynamics of a Ball Rolling on a Tipping Plane

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Part of the Mechanisms and Machine Science book series (Mechan. Machine Science,volume 73)

Abstract

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.

Keywords

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

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  • DOI: 10.1007/978-3-030-20131-9_194
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Author information

Authors and Affiliations

  1. Federal University of Technology – Paraná (UTFPR), Rua Deputado Heitor Alencar Furtado, 5000 - Ecoville, CEP: 81280-340, Curitiba - PR, Brazil

    L. P. Laus

  2. School of Engineering, London South Bank University, London, SE1 0AA, U.K.

    J. M. Selig

Authors
  1. L. P. Laus
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  2. J. M. Selig
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Corresponding author

Correspondence to L. P. Laus .

Editor information

Editors and Affiliations

  1. Robotics & Machine Dynamics Group, University of Mining and Metallurgy, Kraków, Poland

    Prof. Dr. Tadeusz Uhl

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Laus, L.P., Selig, J.M. (2019). On the Dynamics of a Ball Rolling on a Tipping Plane. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_194

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