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Keldysh Institute preprints, 2017, 016 (Mi ipmp2232)  

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


Abstract: 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.

Keywords: the spherical robot, dynamic models, two-parametrical model of friction, control algorithm of a sphere by means a flywheels.

Funding Agency Grant Number
Russian Foundation for Basic Research 16-08-00880_а
16-01-00131_а


DOI: https://doi.org/10.20948/prepr-2017-16

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Full text: http:/.../preprint.asp?id=2017-16&lg=r
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Document Type: Preprint
UDC: 531.1

Citation: 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
\Bibitem{TerPav17}
\by G.~P.~Terehov, V.~E.~Pavlovsky
\paper Control of the spherical robot by means of fly-wheels
\jour Keldysh Institute preprints
\yr 2017
\papernumber 016
\totalpages 31
\mathnet{http://mi.mathnet.ru/ipmp2232}
\crossref{https://doi.org/10.20948/prepr-2017-16}


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    Citing articles on Google Scholar: Russian citations, English citations
    Related articles on Google Scholar: Russian articles, English articles

    This publication is cited in the following articles:
    1. G. P. Terekhov, V. E. Pavlovskii, “Upravlenie nesbalansirovannym sfericheskim robotom”, Preprinty IPM im. M. V. Keldysha, 2017, 090, 23 pp.  mathnet  crossref
  • Препринты Института прикладной математики им. М. В. Келдыша РАН
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