Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics]
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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics], 2014, Volume 10, Number 1, Pages 113–126 (Mi nd428)  
This article is cited in 13 scientific papers (total in 13 papers)

Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform

Alexander A. Kilina, Yury L. Karavaeva, Anton V. Klekovkinb

a Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia
b M. T. Kalashnikov Izhevsk State Technical University, Studencheskaya st. 7, Izhevsk, 426069, Russia
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Abstract: In this article a kinematic model of the spherical robot is considered, which is set in motion by the internal platform with omni-wheels. It has been introduced a description of construction, algorithm of trajectory planning according to developed kinematic model, it has been realized experimental research for typical trajectories: moving along a straight line and moving along a circle.
Keywords: spherorobot, kinematic model, non-holonomic constraint, omni-wheel.
Received: 24.01.2014
Revised: 17.03.2014
Document Type: Article
UDC: 62.529
MSC: 93B18, 93B52
Language: Russian
Citation: Alexander A. Kilin, Yury L. Karavaev, Anton V. Klekovkin, “Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform”, Nelin. Dinam., 10:1 (2014), 113–126
Citation in format AMSBIB
\Bibitem{KilKarKle14}
\by Alexander~A.~Kilin, Yury~L.~Karavaev, Anton~V.~Klekovkin
\paper Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform
\jour Nelin. Dinam.
\yr 2014
\vol 10
\issue 1
\pages 113--126
\mathnet{http://mi.mathnet.ru/nd428}
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  • https://www.mathnet.ru/eng/nd/v10/i1/p113
    • This publication is cited in the following 13 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    		Нелинейная динамика
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