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Tr. Mat. Inst. Steklova, 2016, Volume 295, Pages 174–183 (Mi tm3755)  

This article is cited in 15 scientific papers (total in 15 papers)

Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments

Yu. L. Karavaevab, A. A. Kilinb

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

Abstract: We present the results of theoretical and experimental investigations of the motion of a spherical robot on a plane. The motion is actuated by a platform with omniwheels placed inside the robot. The control of the spherical robot is based on a dynamic model in the nonholonomic statement expressed as equations of motion in quasivelocities with indeterminate coefficients. A number of experiments have been carried out that confirm the adequacy of the dynamic model proposed.

Funding Agency Grant Number
Russian Foundation for Basic Research 15-38-20879-мол_а_вед
15-08-09261-а
Russian Science Foundation 14-19-01303
The work of A.A. Kilin (Sections 2 and 3) is supported by the Russian Foundation for Basic Research, project nos. 15-38-20879-mol_a_ved and 15-08-09261-a. The work of Yu.L. Karavaev (Sections 4 and 5) is supported by the Russian Science Foundation under grant 14-19-01303.


DOI: https://doi.org/10.1134/S0371968516040099

Full text: PDF file (387 kB)
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English version:
Proceedings of the Steklov Institute of Mathematics, 2016, 295, 158–167

Bibliographic databases:

UDC: 51-72+531.133.1+531.384+621.865.8
Received: June 29, 2016

Citation: Yu. L. Karavaev, A. A. Kilin, “Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments”, Modern problems of mechanics, Collected papers, Tr. Mat. Inst. Steklova, 295, MAIK Nauka/Interperiodica, Moscow, 2016, 174–183; Proc. Steklov Inst. Math., 295 (2016), 158–167

Citation in format AMSBIB
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\by Yu.~L.~Karavaev, A.~A.~Kilin
\paper Nonholonomic dynamics and control of a~spherical robot with an internal omniwheel platform: theory and experiments
\inbook Modern problems of mechanics
\bookinfo Collected papers
\serial Tr. Mat. Inst. Steklova
\yr 2016
\vol 295
\pages 174--183
\publ MAIK Nauka/Interperiodica
\publaddr Moscow
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\crossref{https://doi.org/10.1134/S0371968516040099}
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\jour Proc. Steklov Inst. Math.
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    3. A. Kilin, P. Bozek, Yu. Karavaev, A. Klekovkin, V. Shestakov, “Experimental investigations of a highly maneuverable mobile omniwheel robot”, Int. J. Adv. Robot. Syst., 14:6 (2017), 1729881417744570  crossref  mathscinet  isi  scopus
    4. Alexey V. Borisov, Ivan S. Mamaev, “An Inhomogeneous Chaplygin Sleigh”, Regul. Chaotic Dyn., 22:4 (2017), 435–447  mathnet  crossref  mathscinet
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    6. T. B. Ivanova, A. A. Kilin, E. N. Pivovarova, “Controlled motion of a spherical robot with feedback. I”, J. Dyn. Control Syst., 24:3 (2018), 497–510  crossref  mathscinet  zmath  isi  scopus
    7. A. A. Kilin, T. B. Ivanova, E. N. Pivovarova, “Controlled motion of a spherical robot of pendulum type on an inclined plane”, Dokl. Phys., 63:7 (2018), 302–306  mathnet  crossref  crossref  isi  elib  elib  scopus
    8. M. M. Svinin, M. Yamamoto, Ya. Bai, “Dynamics-based motion planning for a pendulum-actuated spherical rolling robot”, Regul. Chaotic Dyn., 23:4 (2018), 372–388  mathnet  crossref  mathscinet
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    10. Frankovsky P., Pastor M., Dominik L., Kicko M., Trebuna P., Hroncova D., Kelemen M., 12Th International Conference Elektro 2018, eds. Hockicko P., Dubovan J., Markovic M., IEEE, 2018  isi
    11. Virgala I., Mikova L., Liptak T., Kelemen M., Surovec R., Filakovsky F., Jurus O., Sukop M., 12Th International Conference Elektro 2018, eds. Hockicko P., Dubovan J., Markovic M., IEEE, 2018  isi
    12. Ivanova T.B., Kilin A.A., Pivovarova E.N., “Controlled Motion of a Spherical Robot With Feedback. II”, J. Dyn. Control Syst., 25:1 (2019), 1–16  crossref  mathscinet  zmath  isi
    13. Alexey B., Alexander M., Yury K., Anton K., “Stabilization of the Motion of a Spherical Robot Using Feedbacks”, Appl. Math. Model., 69 (2019), 583–592  crossref  mathscinet  isi  scopus
    14. Kilin A.A., Pivovarova E.N., “Qualitative Analysis of the Nonholonomic Rolling of a Rubber Wheel With Sharp Edges”, Regul. Chaotic Dyn., 24:2 (2019), 212–233  mathnet  crossref  mathscinet  isi  scopus
    15. Ardentov A.A., Karavaev Yu.L., Yefremov K.S., “Euler Elasticas For Optimal Control of the Motion of Mobile Wheeled Robots: the Problem of Experimental Realization”, Regul. Chaotic Dyn., 24:3 (2019), 312–328  crossref  isi
  • Труды Математического института им. В. А. Стеклова Proceedings of the Steklov Institute of Mathematics
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