Keldysh Institute preprints, 2017, 016, 31 pp.
This article is cited in 2 scientific papers (total in 2 papers)
Control of the spherical robot by means of fly-wheels
G. P. Terehov, V. E. Pavlovsky
The theoretical mechanical model of the spherical robot with the flywheels located in a sphere is considered. The described design intends for motion control of a sphere on various trajectories. In work control algorithms of a sphere on basic trajectories are investigated, the movements from rotation on the point and the movements on a straight line piece before the basic movements on curvilinear trajectories are considered. Dynamical models of a sphere robot, different models of friction are considered, as the main model of friction the two-parametrical model is considered. In work technical capability of realization of a sphere robot with flywheels is proved.
the spherical robot, dynamic models, two-parametrical model of friction, control algorithm of a sphere by means a flywheels.
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G. P. Terehov, V. E. Pavlovsky, “Control of the spherical robot by means of fly-wheels”, Keldysh Institute preprints, 2017, 016, 31 pp.
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\by G.~P.~Terehov, V.~E.~Pavlovsky
\paper Control of the spherical robot by means of fly-wheels
\jour Keldysh Institute preprints
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G. P. Terekhov, V. E. Pavlovskii, “Upravlenie nesbalansirovannym sfericheskim robotom”, Preprinty IPM im. M. V. Keldysha, 2017, 090, 23 pp.
E. A. Mityushov, N. E. Misyura, S. A. Berestova, “Kvaternionnaya model programmnogo upravleniya dvizheniem shara Chaplygina”, Vestn. Udmurtsk. un-ta. Matem. Mekh. Kompyut. nauki, 29:3 (2019), 408–421
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