Alexander A. Kilin, Yury L. Karavaev, “The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform”, Nelin. Dinam., 10:4 (2014), 497

Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics]

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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics], 2014, Volume 10, Number 4, Pages 497–511 (Mi nd460)

This article is cited in 12 scientific papers (total in 12 papers)

The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform

Alexander A. Kilin^a, Yury L. Karavaev^b

^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: The kinematic control model for a spherical robot with an internal omniwheel platform is presented. We consider singularities of control of spherical robot with an unbalanced internal omniwheel platform. The general algorithm of control of spherical robot according to the kinematical quasi-static model and controls for simple trajectories (a straight line and in a circle) are presented. Experimental investigations have been carried out for all introduced control algorithms.

Keywords: spherical robot, kinematic model, nonholonomic constraint, omniwheel, displacement of center of mass.

Received: 19.11.2014
Revised: 03.12.2014

Document Type: Article

UDC: 62.529

MSC: 93B18, 93B52

Language: Russian

Citation: Alexander A. Kilin, Yury L. Karavaev, “The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform”, Nelin. Dinam., 10:4 (2014), 497–511

Citation in format AMSBIB

\Bibitem{KilKar14}

\by Alexander~A.~Kilin, Yury~L.~Karavaev

\paper The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform

\jour Nelin. Dinam.

\yr 2014

\vol 10

\issue 4

\pages 497--511

\mathnet{http://mi.mathnet.ru/nd460}

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https://www.mathnet.ru/eng/nd460

https://www.mathnet.ru/eng/nd/v10/i4/p497

This publication is cited in the following 12 articles:

Citing articles in Google Scholar: Russian citations, English citations
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