Controllability and motion planning of multibody systems with nonholonomic constraints

We consider the dynamics and control of a multibody spherical robot. Internal rotors and sliders are considered as the mechanism for control. Our model is based on equations developed for certain systems with nonholonomic constraints (in particular, systems based on Chaplygin´s sphere and Chaplygin´s top) and the multibody framework for unconstrained systems developed. The methods for determining controllability and path planning for multibody systems with symmetry that are developed, are extended to treat systems with constraints. Several results on the controllability and path planning of our spherical robot model are presented.