Local Equilibrium Controllability of a Spherical Robot Actuated by a Pendulum

被引：0

作者：

Gajbhiye, Sneha ^{[1
]}

Banavar, Ravi N. ^{[1
]}

机构：

[1] Indian Inst Technol, Syst & Control Engn Dept, Bombay 400076, Maharashtra, India

来源：

2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2013年

关键词：

SYSTEMS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present local equilibrium configuration controllability analysis of a spherical robot. The robot is actuated by the principle of displacing the center of gravity of the system using an internal mechanism. The system is defined on a trivial principal fiber bundle, characterized by base body motion and the shape dynamics, and the equations of motion are in the form of the nonholonomic Euler-Poincare equation with advected dynamics. Using Lie brackets and symmetric products of the potential and control vector fields, local configuration accessibility and local (fiber) equilibrium controllability are presented.

引用

页码：1616 / 1621

页数：6

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