This repo consists of the code (mainly in Mathematica and Matlab) written for the dynamic modelling of a rolling robot, which is actuated by a reciprocating mass.
The following configurations of the robot are studied:
- reciprocating masses without any compliant element
- reciprocating masses with fixed stiffness springs
- reciprocating masses with variable stiffness springs
The dynamics equations, generated in Mathematica, were validated using ADAMS. Furthermore, we used MATLAB/Simulink to perform the trajectory tracking control of the robot.
Please go through the project report for more details.
