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Nelin. Dinam., 2011, Volume 7, Number 4, Pages 785–801 (Mi nd292)  

This article is cited in 10 scientific papers (total in 10 papers)

An omni-wheel vehicle on a plane and a sphere

A. V. Borisovab, A. A. Kilinba, I. S. Mamaevab

a Institute of Computer Science, Universitetskaya 1, Izhevsk, 426034 Russia
b Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia

Abstract: We consider a nonholonomic model of the dynamics of an omni-wheel vehicle on a plane and a sphere. An elementary derivation of equations is presented, the dynamics of a free system is investigated, a relation to control problems is shown.

Keywords: omni-wheel, roller-bearing wheel, nonholonomic constraint, dynamical system, invariant measure, integrability, controllability.

Full text: PDF file (726 kB)
References: PDF file   HTML file

Document Type: Article
UDC: 531.01
MSC: 70F25, 70E18, 70E55, 70E60
Received: 03.10.2011

Citation: A. V. Borisov, A. A. Kilin, I. S. Mamaev, “An omni-wheel vehicle on a plane and a sphere”, Nelin. Dinam., 7:4 (2011), 785–801

Citation in format AMSBIB
\Bibitem{BorKilMam11}
\by A.~V.~Borisov, A.~A.~Kilin, I.~S.~Mamaev
\paper An omni-wheel vehicle on a plane and a sphere
\jour Nelin. Dinam.
\yr 2011
\vol 7
\issue 4
\pages 785--801
\mathnet{http://mi.mathnet.ru/nd292}


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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. Yu. L. Karavaev, S. A. Trefilov, “Diskretnyi algoritm upravleniya po otkloneniyu mobilnym robotom s omnikolesami”, Nelineinaya dinam., 9:1 (2013), 91–100  mathnet
    2. A. A. Kilin, A. D. Bobykin, “Upravlenie telezhkoi s omnikolesami na ploskosti”, Nelineinaya dinam., 10:4 (2014), 473–481  mathnet
    3. A. N. Afonin, A. Yu. Aleinikov, E. N. Bondareva, “Uproschennyi raschet kinematiki dvizheniya mobilnogo robota s tremya omnikolesami”, Nauchnye vedomosti Belgorodskogo gosudarstvennogo universiteta. Seriya: Matematika. Fizika, 36:19 (190) (2014), 180–183  elib
    4. Zimmermann K., Zeidis I., Abdelrahman M., “Dynamics of Mechanical Systems With Mecanum Wheels”, Applied Non-Linear Dynamical Systems, Springer Proceedings in Mathematics & Statistics, 93, ed. Awrejcewicz J., Springer-Verlag Berlin, 2014, 269–279  crossref  isi
    5. Yu. L. Karavaev, A. A. Kilin, “Dinamika sferorobota s vnutrennei omnikolesnoi platformoi”, Nelineinaya dinam., 11:1 (2015), 187–204  mathnet  elib
    6. Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “Dynamics and Control of an Omniwheel Vehicle”, Regul. Chaotic Dyn., 20:2 (2015), 153–172  mathnet  crossref  mathscinet  zmath  adsnasa
    7. Yury L. Karavaev, Alexander A. Kilin, “The Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform”, Regul. Chaotic Dyn., 20:2 (2015), 134–152  mathnet  crossref  mathscinet  zmath  adsnasa  elib
    8. I. I. Kosenko, K. V. Gerasimov, “Fizicheski-orientirovannoe modelirovanie dinamiki omnitelezhki”, Nelineinaya dinam., 12:2 (2016), 251–262  mathnet  elib
    9. A. A. Sklyarov, G. E. Veselov, S. A. Sklyarov, T. E. Pohilina, “Synthesis of the synergetic control law of the transport robotic platform”, 2017 IEEE II International Conference on Control in Technical Systems (Cts), IEEE, 2017, 285–288  crossref  isi
    10. B. I. Adamov, “A Study of the Controlled Motion of a Four-wheeled Mecanum Platform”, Nelineinaya dinam., 14:2 (2018), 265–290  mathnet  crossref
  • Нелинейная динамика
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