# Numerical Simulations of a Rolling Ball Robot Actuated by Internal Point Masses

## TL;DR

This paper presents a numerical approach for controlling a rolling ball robot actuated by internal point masses, enabling trajectory tracking and obstacle avoidance through continuation methods.

## Contribution

It introduces a numerical framework for controlling a ball robot with internal masses along arbitrary rails, advancing motion planning techniques.

## Key findings

- Successful trajectory tracking demonstrated
- Effective obstacle avoidance achieved
- Numerical solutions validated for complex internal mass configurations

## Abstract

The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. The controlled equations of motion are solved numerically using a predictor-corrector continuation method, starting from an initial solution obtained via a direct method, to realize trajectory tracking and obstacle avoidance maneuvers.