Nonholonomic Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform: Theory and Experiments

被引：27
作者：
Karavaev, Yu. L. [1 ,2 ]
Kilin, A. A. [2 ]
机构：
[1] Kalashnikov Izhevsk State Tech Univ, Ul Studencheskaya 7, Izhevsk 426069, Russia
[2] Udmurt State Univ, Ul Univ Skaya 1, Izhevsk 426034, Russia
来源：
PROCEEDINGS OF THE STEKLOV INSTITUTE OF MATHEMATICS | 2016年 / 295卷 / 01期
基金：
俄罗斯基础研究基金会; 俄罗斯科学基金会;
关键词：
MOTION;
D O I：
10.1134/S0081543816080095
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
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.
引用
收藏
页码：158 / 167
页数：10
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