A motion control for a spherical robot with pendulum drive

被引：14

作者：

Balandin, D. V. ^{[1
]}

Komarov, M. A. ^{[1
]}

Osipov, G. V. ^{[1
]}

机构：

[1] NI Labachevskii Nizhnii Novgorod State Univ, Nizhnii Novgorod 603600, Russia

来源：

JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL | 2013年 / 52卷 / 04期

基金：

俄罗斯基础研究基金会;

关键词：

Spherical Shell; System Science International; Control Torque; Robot Motion; Nonholonomic Constraint;

D O I：

10.1134/S1064230713040047

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Problems of controlling a spherical robot with pendulum drive are considered. A mathematical model of the dynamics of this robot is constructed and control laws in the form of state feedback that provide robot motion along a given trajectory are synthesized. Results of computer simulation that demonstrate efficiency of the proposed control laws are presented.

引用

页码：650 / 663

页数：14

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