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

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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics]

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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics], 2014, Volume 10, Number 4, Pages 497–511 (Mi nd460)

This article is cited in 13 scientific papers (total in 13 papers)

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

Alexander A. Kilin^a, Yury L. Karavaev^b

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

Full-text PDF (992 kB) Citations (13)

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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.

Received: 19.11.2014
Revised: 03.12.2014

Document Type: Article

UDC: 62.529

MSC: 93B18, 93B52

Language: Russian

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:

https://www.mathnet.ru/eng/nd460

https://www.mathnet.ru/eng/nd/v10/i4/p497

This publication is cited in the following 13 articles:

B. I. Adamov, “Geometry and Kinematics of the Mecanum Wheel on a Plane and a Sphere”, Rus. J. Nonlin. Dyn., 20:1 (2024), 43–78
E. A. Mikishanina, “Omnikolesnaya realizatsiya zadachi Suslova s reonomnoi svyazyu: dinamicheskaya model i upravlenie”, Vestnik rossiiskikh universitetov. Matematika, 29:147 (2024), 296–308
A. Y. Shamin, A. A. Rachkov, “On the Motion of a Vibrating Robot on a Horizontal Plane with Anisotropic Friction”, Rus. J. Nonlin. Dyn., 20:5 (2024), 945–959
E. V. Vetchanin, I. S. Mamaev, “Chislennyi analiz periodicheskikh upravlenii vodnogo robota neizmennoi formy”, Vestn. Udmurtsk. un-ta. Matem. Mekh. Kompyut. nauki, 32:4 (2022), 644–660
Yu. L. Karavaev, “Spherical Robots: An Up-to-Date Overview of Designs and Features”, Rus. J. Nonlin. Dyn., 18:4 (2022), 709–750
G. R. Saypulaev, B. I. Adamov, A. I. Kobrin, “Comparative Analysis of the Dynamics of a Spherical Robot with a Balanced Internal Platform Taking into Account Different Models of Contact Friction”, Rus. J. Nonlin. Dyn., 18:5 (2022), 803–815
A. S. Andreev, O. A. Peregudova, “On Global Trajectory Tracking Control for an Omnidirectional Mobile Robot with a Displaced Center of Mass”, Rus. J. Nonlin. Dyn., 16:1 (2020), 115–131
Elizaveta M. Artemova, Yury L. Karavaev, Ivan S. Mamaev, Evgeny V. Vetchanin, “Dynamics of a Spherical Robot with Variable Moments of Inertia and a Displaced Center of Mass”, Regul. Chaotic Dyn., 25:6 (2020), 689–706
Klekovkin V A., “Simulation of the Motion of a Propellerless Mobile Robot Controlled By Rotation of the Internal Rotor”, Vestn. Udmurt. Univ.-Mat. Mekh. Kompyuternye Nauk., 30:4 (2020), 645–656
Andrey A. Ardentov, Yury L. Karavaev, Kirill S. Yefremov, “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
Yu. L. Karavaev, A. A. Kilin, “Dinamika sferorobota s vnutrennei omnikolesnoi platformoi”, Nelineinaya dinam., 11:1 (2015), 187–204
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
Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “Dynamics and Control of an Omniwheel Vehicle”, Regul. Chaotic Dyn., 20:2 (2015), 153–172

Citing articles in Google Scholar: Russian citations, English citations
Related articles in Google Scholar: Russian articles, English articles

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