Keldysh Institute preprints, 2017, 016
This article is cited in 1 scientific paper (total in 1 paper)
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.
Citation in format AMSBIB
\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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This publication is cited in the following articles:
G. P. Terekhov, V. E. Pavlovskii, “Upravlenie nesbalansirovannym sfericheskim robotom”, Preprinty IPM im. M. V. Keldysha, 2017, 090, 23 pp.
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