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


    2014, Vol. 10, No. 1, pp.  113-126

    Author(s): Kilin A. A., Karavaev Y. L., Klekovkin A. V.

    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
    Citation: Kilin A. A., Karavaev Y. L., Klekovkin A. V., Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform, Rus. J. Nonlin. Dyn., 2014, Vol. 10, No. 1, pp.  113-126
    DOI:10.20537/nd1401008


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