Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane

被引：12

作者：

Ivanova, T. B. ^{[1
,2
]}

Kilin, A. A. ^{[1
,3
]}

Pivovarova, E. N. ^{[1
,2
]}

机构：

[1] Udmurt State Univ, Ul Univ Skaya 1, Izhevsk 426034, Russia

[2] Russian Acad Sci, Blagonravov Mech Engn Res Inst, Ul Bardina 4, Moscow 117334, Russia

[3] Moscow Inst Phys & Technol, Inst Per 9, Dolgoprudnyi 141701, Moscow Region, Russia

来源：

DOKLADY PHYSICS | 2018年 / 63卷 / 07期

关键词：

INTERNAL OMNIWHEEL PLATFORM; DYNAMICS;

D O I：

10.1134/S1028335818070091

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

This paper is concerned with a model of the controlled motion of a spherical robot with an axisymmetric pendulum actuator on an inclined plane. First integrals of motion and partial solutions are presented and their stability is analyzed. It is shown that the steady solutions exist only at an inclination angle less than some critical value and only for constant control action.

引用

页码：302 / 306

页数：5

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