Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics]
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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics], 2015, Volume 11, Number 1, Pages 187–204 (Mi nd473)  
This article is cited in 8 scientific papers (total in 8 papers)

The dynamic of a spherical robot with an internal omniwheel platform

Yury L. Karavaeva, Alexander A. Kilinb

a M. T. Kalashnikov Izhevsk State Technical University, Studencheskaya st. 7, Izhevsk, 426069, Russia
b Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia
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Abstract: The dynamic model for a spherical robot with an internal omniwheel platform is presented. Equations of motion and first integrals according to the non-holonomic model are given. We consider particular solutions and their stability. The algorithm of control of spherical robot for movement along a given trajectory are presented.
Keywords: spherical robot, dynamical model, non-holonomic constraint, omniwheel, stability.
Funding agency Grant number
Russian Science Foundation 14-19-01303
Ministry of Education and Science of the Russian Federation
Received: 16.01.2015
Revised: 10.02.2015
Bibliographic databases:
Document Type: Article
UDC: 62.529
MSC: 93B18, 93B52
Language: Russian
Citation: Yury L. Karavaev, Alexander A. Kilin, “The dynamic of a spherical robot with an internal omniwheel platform”, Nelin. Dinam., 11:1 (2015), 187–204
Citation in format AMSBIB
\Bibitem{KarKil15}
\by Yury~L.~Karavaev, Alexander~A.~Kilin
\paper The dynamic of a spherical robot with an internal omniwheel platform
\jour Nelin. Dinam.
\yr 2015
\vol 11
\issue 1
\pages 187--204
\mathnet{http://mi.mathnet.ru/nd473}
\elib{https://elibrary.ru/item.asp?id=23051497}
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    • This publication is cited in the following 8 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
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