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 Nelin. Dinam., 2017, Volume 13, Number 4, Pages 611–623 (Mi nd590)

On the 75th birthday of A.P.Markeev

Stability analysis of steady motions of a spherical robot of combined type

E. N. Pivovarova

Udmurt State University, ul. Universitetskaya 1, Izhevsk, 426034, Russia

Abstract: The dynamics of a spherical robot of combined type consisting of a spherical shell and a pendulum attached at the center of the shell is considered. At the end of the pendulum a rotor is installed. For this system we carry out a stability analysis for a partial solution which in absolute space corresponds to motion along a circle with constant velocity. Regions of stability of a partial solution are found depending on the orientation of the spherical robot during the motion, its velocity and the radius of the circle traced out by the point of contact.

Keywords: spherical robot, nonholonomic constraint, partial solution, stability

 Funding Agency Grant Number Ministry of Education and Science of the Russian Federation 1.2404.2017/4.6

DOI: https://doi.org/10.20537/nd1704013

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UDC: 531.31
MSC: 70Exx, 37J60
Accepted:17.11.2017

Citation: E. N. Pivovarova, “Stability analysis of steady motions of a spherical robot of combined type”, Nelin. Dinam., 13:4 (2017), 611–623

Citation in format AMSBIB
\Bibitem{Piv17} \by E.~N.~Pivovarova \paper Stability analysis of steady motions of a spherical robot of combined type \jour Nelin. Dinam. \yr 2017 \vol 13 \issue 4 \pages 611--623 \mathnet{http://mi.mathnet.ru/nd590} \crossref{https://doi.org/10.20537/nd1704013} \elib{http://elibrary.ru/item.asp?id=30780706}