Trudy Matematicheskogo Instituta imeni V.A. Steklova
RUS  ENG    JOURNALS   PEOPLE   ORGANISATIONS   CONFERENCES   SEMINARS   VIDEO LIBRARY   PACKAGE AMSBIB  
General information
Latest issue
Forthcoming papers
Archive
Impact factor
Guidelines for authors
License agreement

Search papers
Search references

RSS
Latest issue
Current issues
Archive issues
What is RSS


Trudy Mat. Inst. Steklova:
Year:
Volume:
Issue:
Page:
Find




Personal entry:
Login:
Password:
Save password
Enter
Forgotten password?
Register

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)
References:
PDF
HTML
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
\Bibitem{KarKil16}
\by Yu.~L.~Karavaev, A.~A.~Kilin
\paper Nonholonomic dynamics and control of a~spherical robot with an internal omniwheel platform: theory and experiments
\inbook Modern problems of mechanics
\bookinfo Collected papers
\serial Trudy Mat. Inst. Steklova
\yr 2016
\vol 295
\pages 174--183
\publ MAIK Nauka/Interperiodica
\publaddr Moscow
\mathnet{http://mi.mathnet.ru/tm3755}
\crossref{https://doi.org/10.1134/S0371968516040099}
\mathscinet{http://mathscinet.ams.org/mathscinet-getitem?mr=3628519}
\elib{https://elibrary.ru/item.asp?id=27643607}
\transl
\jour Proc. Steklov Inst. Math.
\yr 2016
\vol 295
\pages 158--167
\crossref{https://doi.org/10.1134/S0081543816080095}
\isi{https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=Publons&SrcAuth=Publons_CEL&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=000395572400009}
\scopus{https://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85010767432}
Linking options:
  • https://www.mathnet.ru/eng/tm3755
  • https://doi.org/10.1134/S0371968516040099
  • https://www.mathnet.ru/eng/tm/v295/p174
    • This publication is cited in the following 44 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    		Труды Математического института имени В. А. Стеклова Proceedings of the Steklov Institute of Mathematics
    Statistics & downloads:
    Abstract page:281
    Full-text PDF :47
    References:56
    First page:8
     
      Contact us:
    		  Terms of Use  Registration to the website  Logotypes © Steklov Mathematical Institute RAS, 2024