Design and Implementations of Spherical Robot Hardware Level

In this paper, development of the mobile platform for the spherical robot is considered. A three-omni-wheeled mobile robot was selected as a driving mechanism. The actuators of the mobile robot are DC motors with a transistor bridge circuit as a driver. The results of testing motors for determining linearity of the system are presented as well as a closed-loop speed control system for each motor is implemented. The paper presents a description of the architecture of hardware level and related software.