RUS  ENG
Полная версия
ЖУРНАЛЫ // Regular and Chaotic Dynamics // Архив

Regul. Chaotic Dyn., 2015, том 20, выпуск 6, страницы 716–728 (Mi rcd40)

Эта публикация цитируется в 51 статьях

Spherical Robot of Combined Type: Dynamics and Control

Alexander A. Kilina, Elena N. Pivovarovaa, Tatyana B. Ivanovab

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

Аннотация: This paper is concerned with free and controlled motions of a spherical robot of combined type moving by displacing the center of mass and by changing the internal gyrostatic momentum. Equations of motion for the nonholonomic model are obtained and their first integrals are found. Fixed points of the reduced system are found in the absence of control actions. It is shown that they correspond to the motion of the spherical robot in a straight line and in a circle. A control algorithm for the motion of the spherical robot along an arbitrary trajectory is presented. A set of elementary maneuvers (gaits) is obtained which allow one to transfer the spherical robot from any initial point to any end point.

Ключевые слова: spherical robot, control, nonholonomic constraint, combined mechanism.

MSC: 37J60, 70E18, 70F25

Поступила в редакцию: 17.09.2015
Принята в печать: 05.11.2015

Язык публикации: английский

DOI: 10.1134/S1560354715060076



Реферативные базы данных:


© МИАН, 2024