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Dokl. Akad. Nauk, 2018, Volume 481, Number 3, Pages 258–263 (Mi dan46856)  

Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane

A. A. Kilin, E. N. Pivovarova, T. B. Ivanova

Udmurt State University

Abstract: This paper is concerned with a model of the controlled motion of a spherical robot with an axisymmetric pendulum actuator on an inclined plane. First integrals of motion and partial solutions are presented and their stability is analyzed. It is shown that the steady solutions exist only at an inclination angle less than some critical value and only for constant control action.

Funding Agency Grant Number
Russian Academy of Sciences - Federal Agency for Scientific Organizations
Ministry of Education and Science of the Russian Federation
Russian Foundation for Basic Research 15-08-09261_a


DOI: https://doi.org/10.31857/S086956520001374-4


English version:
Doklady Physics, 2018, 63:7, 302–306

Bibliographic databases:

Received: 14.10.2018

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