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Nelin. Dinam., 2019, Volume 15, Number 4, Pages 497–504 (Mi nd676)  

The Dynamics of a Spherical Robot of Combined Type by Periodic Control Actions

Yu. L. Karavaevab, A. A. Kilinc

a Center for Technologies in Robotics and Mechatronics Components, Innopolis University, ul. Universitetskaya 1, Innopolis, 420500 Russia
b M. T.Kalashnikov Izhevsk State Technical University, ul. Studencheskaya 7, Izhevsk, 426069 Russia
c V. A. Steklov Mathematical Institute RAS, ul. Gubkina 8, Moscow, 119991 Russia

Abstract: This paper presents the results of the study of the dynamics of a real spherical robot of combined type in the case of control using small periodic oscillations. The spherical robot is set in motion by controlled change of the position of the center of mass and by generating variable gyrostatic momentum. We demonstrate how to use small periodic controls for stabilization of the spherical robot during motion. The results of numerical simulation are obtained for various initial conditions and control parameters that ensure a change in the position of the center of mass and a variation of gyrostatic momentum. The problem of the motion of a spherical robot of combined type on a surface that performs flat periodic oscillations is also considered. The results of numerical simulation are obtained for different initial conditions, control actions and parameters of oscillations.

Keywords: spherical robot, nonholonomic constraint, small periodic control actions, stabilization

Funding Agency Grant Number
Russian Science Foundation 18-71-00096
19-71-30012
The work of Yu. L.Karavaev (Sections 3, 4) was supported by the Russian Science Foundation under grant 18-71-00096. The work of A.A.Kilin (Sections 1, 2) was supported by the Russian Science Foundation under grant 19-71-30012 and performed in Steklov Mathematical Institute of Russian Academy of Sciences.


DOI: https://doi.org/10.20537/nd190408

Full text: PDF file (528 kB)
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MSC: 70E60, 70J99
Received: 20.05.2019
Accepted:12.07.2019

Citation: Yu. L. Karavaev, A. A. Kilin, “The Dynamics of a Spherical Robot of Combined Type by Periodic Control Actions”, Nelin. Dinam., 15:4 (2019), 497–504

Citation in format AMSBIB
\Bibitem{KarKil19}
\by Yu. L. Karavaev, A. A. Kilin
\paper The Dynamics of a Spherical Robot of Combined Type by Periodic Control Actions
\jour Nelin. Dinam.
\yr 2019
\vol 15
\issue 4
\pages 497--504
\mathnet{http://mi.mathnet.ru/nd676}
\crossref{https://doi.org/10.20537/nd190408}


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