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This article is cited in 22 scientific papers (total in 22 papers)
Dynamics and control of a spherical robot with an axisymmetric pendulum actuator
Tatyana B. Ivanova, Elena N. Pivovarova Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia
Abstract:
This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits — the simplest motions such as acceleration and deceleration during the motion in a straight line, rotation through a given angle and their combination. Also, the controlled motion of the system along a straight line with a constant acceleration is considered. For this problem the algorithm for calculating the control torques is given and it is shown that the resulting reduced system has the first integral of motion.
Keywords:
non-holonomic constraint, control, spherical shell, integral of motion.
Received: 05.08.2013 Revised: 21.10.2013
Citation:
Tatyana B. Ivanova, Elena N. Pivovarova, “Dynamics and control of a spherical robot with an axisymmetric pendulum actuator”, Nelin. Dinam., 9:3 (2013), 507–520
Linking options:
https://www.mathnet.ru/eng/nd403 https://www.mathnet.ru/eng/nd/v9/i3/p507
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Abstract page: | 300 | Full-text PDF : | 97 | References: | 39 | First page: | 1 |
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