Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

Table 4

Parameters used in this research.

Quantities	Symbol	Parameters
0.026 m		Ball radius
0.132 m		Distance between ball and robots centers of gravity
0.77 kg		Body mass
0.015 kg		Ball mass
kg		Ball moment of inertia
kg⋅m^2		Ball moment of inertia along -axis
kg⋅m^2		Ball moment of inertia along -axis
kg⋅m^2		Motors and wheels moments of inertia along the motor rotation axis
		Motor and ball gear ratio
		Friction coefficient between body and ball
		Friction coefficient between body and ground