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Trudy Matematicheskogo Instituta imeni V.A. Steklova, 2016, Volume 295, Pages 174–183
DOI: https://doi.org/10.1134/S0371968516040099 (Mi tm3755) 		 
This article is cited in 44 scientific papers (total in 44 papers)

Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments

Yu. L. Karavaevab, A. A. Kilinb

a Kalashnikov Izhevsk State Technical University, ul. Studencheskaya 7, Izhevsk, 426069 Russia
b Udmurt State University, ul. Universitetskaya 1, Izhevsk, 426034 Russia
Full-text PDF (387 kB) Citations (44)
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DOI: https://doi.org/10.1134/S0371968516040099
Abstract: We present the results of theoretical and experimental investigations of the motion of a spherical robot on a plane. The motion is actuated by a platform with omniwheels placed inside the robot. The control of the spherical robot is based on a dynamic model in the nonholonomic statement expressed as equations of motion in quasivelocities with indeterminate coefficients. A number of experiments have been carried out that confirm the adequacy of the dynamic model proposed.
Funding agency Grant number
Russian Foundation for Basic Research 15-38-20879-мол_а_вед
15-08-09261-а
Russian Science Foundation 14-19-01303
The work of A.A. Kilin (Sections 2 and 3) is supported by the Russian Foundation for Basic Research, project nos. 15-38-20879-mol_a_ved and 15-08-09261-a. The work of Yu.L. Karavaev (Sections 4 and 5) is supported by the Russian Science Foundation under grant 14-19-01303.
Received: June 29, 2016
English version:
Proceedings of the Steklov Institute of Mathematics, 2016, Volume 295, Pages 158–167
DOI: https://doi.org/10.1134/S0081543816080095
Bibliographic databases:
Document Type: Article
UDC: 51-72+531.133.1+531.384+621.865.8
Language: Russian
Citation: Yu. L. Karavaev, A. A. Kilin, “Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments”, Modern problems of mechanics, Collected papers, Trudy Mat. Inst. Steklova, 295, MAIK Nauka/Interperiodica, Moscow, 2016, 174–183; Proc. Steklov Inst. Math., 295 (2016), 158–167
Citation in format AMSBIB
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\inbook Modern problems of mechanics
\bookinfo Collected papers
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\vol 295
\pages 174--183
\publ MAIK Nauka/Interperiodica
\publaddr Moscow
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    • This publication is cited in the following 44 articles:
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    		Труды Математического института имени В. А. Стеклова Proceedings of the Steklov Institute of Mathematics
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