Alexander A. Kilin, Yury L. Karavaev, Anton V. Klekovkin, “Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform”, Nelin. Dinam., 2014, Volume 10, Number 1,Pages <nobr>113

This article is cited in 13 papers

Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform

Alexander A. Kilin^a, Yury L. Karavaev^a, Anton V. Klekovkin^b

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

Abstract: In this article a kinematic model of the spherical robot is considered, which is set in motion by the internal platform with omni-wheels. It has been introduced a description of construction, algorithm of trajectory planning according to developed kinematic model, it has been realized experimental research for typical trajectories: moving along a straight line and moving along a circle.

Keywords: spherorobot, kinematic model, non-holonomic constraint, omni-wheel.

UDC: 62.529

MSC: 93B18, 93B52

Received: 24.01.2014
Revised: 17.03.2014