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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics], 2015, Volume 11, Number 2, Pages 319–327
(Mi nd482)
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This article is cited in 1 scientific paper (total in 1 paper)
Original papers
On the control of a robot-ball using two omni-wheels
A. P. Ivanov Moscow Institute of Physics and Technology Inststitutskii per. 9, Dolgoprudnyi, 141700, Russia
Abstract:
We discuss the dynamics of balanced body of spherical shape on a rough plane, managed by
the movement of the built-in shell. These two shells are set in relative motion due to rotation
of the two symmetrical omni-wheels. It is shown that the ball can be moved to any point on
the plane along a straight or (in the case of the initial degeneration) polygonal line. Moreover,
any prescribed curvilinear trajectory of the ball center can be followed by appropriate control
strategy as far as the diameter, connecting both wheels, is non-vertical.
Keywords:
robot-ball, omni-wheel, control of motion.
Received: 05.03.2015 Revised: 26.03.2015
Citation:
A. P. Ivanov, “On the control of a robot-ball using two omni-wheels”, Nelin. Dinam., 11:2 (2015), 319–327
Linking options:
https://www.mathnet.ru/eng/nd482 https://www.mathnet.ru/eng/nd/v11/i2/p319
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Statistics & downloads: |
Abstract page: | 333 | Full-text PDF : | 111 | References: | 33 |
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