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Nelin. Dinam., 2014, Volume 10, Number 1, Pages 113–126 (Mi nd428)  

This article is cited in 6 scientific papers (total in 6 papers)

Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform

Alexander A. Kilina, Yury L. Karavaeva, Anton V. Klekovkinb

a Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia
b M. T. Kalashnikov Izhevsk State Technical University, Studencheskaya st. 7, Izhevsk, 426069, Russia

Abstract: In this article a kinematic model of the spherical robot is considered, which is set in motion by the internal platform with omni-wheels. It has been introduced a description of construction, algorithm of trajectory planning according to developed kinematic model, it has been realized experimental research for typical trajectories: moving along a straight line and moving along a circle.

Keywords: spherorobot, kinematic model, non-holonomic constraint, omni-wheel.

Full text: PDF file (3507 kB)
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Document Type: Article
UDC: 62.529
MSC: 93B18, 93B52
Received: 24.01.2014
Revised: 17.03.2014

Citation: Alexander A. Kilin, Yury L. Karavaev, Anton V. Klekovkin, “Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform”, Nelin. Dinam., 10:1 (2014), 113–126

Citation in format AMSBIB
\Bibitem{KilKarKle14}
\by Alexander~A.~Kilin, Yury~L.~Karavaev, Anton~V.~Klekovkin
\paper Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform
\jour Nelin. Dinam.
\yr 2014
\vol 10
\issue 1
\pages 113--126
\mathnet{http://mi.mathnet.ru/nd428}


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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. A. A. Kilin, Yu. L. Karavaev, “Kinematicheskaya model upravleniya sferorobotom s neuravnoveshennoi omnikolesnoi platformoi”, Nelineinaya dinam., 10:4 (2014), 497–511  mathnet
    2. 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
    3. A. P. Ivanov, “Ob upravlenii robotom-sharom pri pomoschi dvukh omnikoles”, Nelineinaya dinam., 11:2 (2015), 319–327  mathnet
    4. 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
    5. Yu. L. Karavaev, A. A. Kilin, “Dinamika sferorobota s vnutrennei omnikolesnoi platformoi”, Nelineinaya dinam., 11:1 (2015), 187–204  mathnet  elib
    6. B. I. Adamov, “A Study of the Controlled Motion of a Four-wheeled Mecanum Platform”, Nelineinaya dinam., 14:2 (2018), 265–290  mathnet  crossref  elib
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