Selection of a Trajectory Function for Minimum Energy Requirements of a Spherical Robot@@@اختيار معادلة المسار للحصول على اقل طاقة مطلوبة لروبوت كروي

In this study dynamic equations of a Stanford type spherical robot is developed. In the work space of the robot, straight line trajectory is chosen for the end effector. On this trajectory, robot travels with different time functions. These functions are cubic segment, bang-bang parabolic blend, simple harmonic, cycloid, and 3-4-5 polynomial. Total consumed energy curves are obtained with respect to travel times for each trajectory. Results show that cubic segment trajectory function spends minimum energy.