RUS  ENG JOURNALS   PEOPLE   ORGANISATIONS   CONFERENCES   SEMINARS   VIDEO LIBRARY   PERSONAL OFFICE
General information
Latest issue
Archive
Impact factor

Search papers
Search references

RSS
Latest issue
Current issues
Archive issues
What is RSS



Nelin. Dinam.:
Year:
Volume:
Issue:
Page:
Find






Personal entry:
Login:
Password:
Save password
Enter
Forgotten password?
Register


Nelin. Dinam., 2014, Volume 10, Number 4, Pages 497–511 (Mi nd460)  

This article is cited in 3 scientific papers (total in 3 papers)

The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform

Alexander A. Kilina, Yury L. Karavaevb

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

Abstract: The kinematic control model for a spherical robot with an internal omniwheel platform is presented. We consider singularities of control of spherical robot with an unbalanced internal omniwheel platform. The general algorithm of control of spherical robot according to the kinematical quasi-static model and controls for simple trajectories (a straight line and in a circle) are presented. Experimental investigations have been carried out for all introduced control algorithms.

Keywords: spherical robot, kinematic model, nonholonomic constraint, omniwheel, displacement of center of mass.

Full text: PDF file (992 kB)
References: PDF file   HTML file

Document Type: Article
UDC: 62.529
MSC: 93B18, 93B52
Received: 19.11.2014
Revised: 03.12.2014

Citation: Alexander A. Kilin, Yury L. Karavaev, “The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform”, Nelin. Dinam., 10:4 (2014), 497–511

Citation in format AMSBIB
\Bibitem{KilKar14}
\by Alexander~A.~Kilin, Yury~L.~Karavaev
\paper The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform
\jour Nelin. Dinam.
\yr 2014
\vol 10
\issue 4
\pages 497--511
\mathnet{http://mi.mathnet.ru/nd460}


Linking options:
  • http://mi.mathnet.ru/eng/nd460
  • http://mi.mathnet.ru/eng/nd/v10/i4/p497

    SHARE: VKontakte.ru FaceBook Twitter Mail.ru Livejournal Memori.ru


    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, A. A. Kilin, “Dinamika sferorobota s vnutrennei omnikolesnoi platformoi”, Nelineinaya dinam., 11:1 (2015), 187–204  mathnet  elib
    2. E. N. Pivovarova, A. V. Klekovkin, “Vliyanie treniya kacheniya na upravlyaemoe dvizhenie robota-kolesa”, Vestn. Udmurtsk. un-ta. Matem. Mekh. Kompyut. nauki, 25:4 (2015), 583–592  mathnet  elib
    3. 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
  • Нелинейная динамика
    Number of views:
    This page:111
    Full text:30
    References:18

     
    Contact us:
     Terms of Use  Registration  Logotypes © Steklov Mathematical Institute RAS, 2019