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The kinematics of the model has been investigated through the classical methods with rotation matrices. Dynamic modeling of the system is based on the Euler\u2013Lagrange formalism. Nonholonomic and highly nonlinear equations of motion have then been decomposed into two simpler subsystems through the decoupled dynamics approach. A feedback linearization loop with fuzzy controllers has been designed for the control of the decoupled dynamics. Rolling of the controlled mechanism over linear and curvilinear trajectories has been simulated by using the proposed decoupled dynamical model and feedback controllers. Analysis of radius of curvature over curvilinear trajectories has also been investigated.<\/jats:p>","DOI":"10.1017\/s0263574711000956","type":"journal-article","created":{"date-parts":[[2012,6,7]],"date-time":"2012-06-07T14:02:04Z","timestamp":1339077724000},"page":"671-680","source":"Crossref","is-referenced-by-count":84,"title":["Modeling and control of a spherical rolling robot: a decoupled dynamics approach"],"prefix":"10.1017","volume":"30","author":[{"given":"Erkan","family":"Kayacan","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zeki Y.","family":"Bayraktaroglu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wouter","family":"Saeys","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2011,8,8]]},"reference":[{"key":"S0263574711000956_ref24","first-page":"197","volume-title":"Proceedings of 1999 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Au","year":"1999"},{"key":"S0263574711000956_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/S1000-9361(08)60061-8"},{"key":"S0263574711000956_ref8","first-page":"181","volume-title":"Proceedings of the IEEE International Conference on Robotics and Biomimetics","author":"Ming","year":"2006"},{"key":"S0263574711000956_ref20","first-page":"83","volume-title":"Proceedings of the Fourth IEEE Mediterranean Symposium on New Directions in Control and Automation","author":"Ackermann","year":"1996"},{"key":"S0263574711000956_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/70.897794"},{"key":"S0263574711000956_ref13","doi-asserted-by":"publisher","DOI":"10.1115\/1.1328088"},{"key":"S0263574711000956_ref14","volume-title":"Nonholonomic Mechanics and Control","author":"Bloch","year":"2004"},{"key":"S0263574711000956_ref16","first-page":"373","volume-title":"Proceedings of the Fourth International Conference on Natural Computation","author":"Zhuang","year":"2008"},{"key":"S0263574711000956_ref5","first-page":"3527","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Javadi","year":"2002"},{"key":"S0263574711000956_ref3","first-page":"805","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Camicia","year":"2000"},{"key":"S0263574711000956_ref22","unstructured":"22. 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A. , \u201cDesign, modelling and control of an autonomous underwater vehicle,\u201d Ph.D. dissertation, The University of Western Australia (Oct. 2004)."},{"key":"S0263574711000956_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.619356"},{"key":"S0263574711000956_ref25","unstructured":"25. Lemos N. A. , \u201cNonholonomic constraints and voronec's equations,\u201d arXiv:physics\/0306078v1 [physics.ed-ph] (Jun. 2003)."},{"key":"S0263574711000956_ref18","unstructured":"18. 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