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    Yury Karavaev

    Yury Karavaev
    Studencheskaya st. 7, Izhevsk, 426069, Russia
    M.T. Kalashnikov Izhevsk State Technical University


    Karavaev Y. L., Klekovkin A. V., Kilin A. A.
    In this paper the model of rolling of spherical bodies on a plane without slipping is presented taking into account viscous rolling friction. Results of experiments aimed at investigating the influence of friction on the dynamics of rolling motion are presented. The proposed dynamical friction model for spherical bodies is verified and the limits of its applicability are estimated. A method for determining friction coefficients from experimental data is formulated.
    Keywords: rolling friction, dynamical model, spherical body, nonholonomic model, experimental investigation
    Citation: Karavaev Y. L., Klekovkin A. V., Kilin A. A.,  The dynamical model of the rolling friction of spherical bodies on a plane without slipping, Rus. J. Nonlin. Dyn., 2017, Vol. 13, No. 4, pp.  599–609
    Kilin A. A., Karavaev Y. L.
    This paper presents the results of experimental investigations for the rolling of a spherical robot of combined type actuated by an internal wheeled vehicle with rotor on a horizontal plane. The control of spherical robot based on nonholonomic dynamical by means of gaits. We consider the motion of the spherical robot in case of constant control actions, as well as impulse control. A number of experiments have been carried out confirming the importance of rolling friction.
    Keywords: spherical robot of combined type, dynamic model, control by means of gaits, rolling friction
    Citation: Kilin A. A., Karavaev Y. L.,  Experimental research of dynamic of spherical robot of combined type, Rus. J. Nonlin. Dyn., 2015, Vol. 11, No. 4, pp.  721–734
    Borisov A. V., Karavaev Y. L., Mamaev I. S., Erdakova N. N., Ivanova T. B., Tarasov V. V.
    In this paper we investigate the dynamics of a body with a flat base (cylinder) sliding on a horizontal rough plane. For analysis we use two approaches. In one of the approaches using a friction machine we determine the dependence of friction force on the velocity of motion of cylinders. In the other approach using a high-speed camera for video filming and the method of presentation of trajectories on a phase plane for analysis of results, we investigate the qualitative and quantitative behavior of the motion of cylinders on a horizontal plane. We compare the results obtained with theoretical and experimental results found earlier. In addition, we give a systematic review of the well-known experimental and theoretical results in this area.
    Keywords: dry friction, linear pressure distribution, two-dimensional motion, planar motion, Coulomb law
    Citation: Borisov A. V., Karavaev Y. L., Mamaev I. S., Erdakova N. N., Ivanova T. B., Tarasov V. V.,  On the dynamics of a body with an axisymmetric base sliding on a rough plane, Rus. J. Nonlin. Dyn., 2015, Vol. 11, No. 3, pp.  547-577
    Karavaev Y. L., Kilin A. A.
    The dynamic model for a spherical robot with an internal omniwheel platform is presented. Equations of motion and first integrals according to the non-holonomic model are given. We consider particular solutions and their stability. The algorithm of control of spherical robot for movement along a given trajectory are presented.
    Keywords: spherical robot, dynamical model, non-holonomic constraint, omniwheel, stability
    Citation: Karavaev Y. L., Kilin A. A.,  The dynamic of a spherical robot with an internal omniwheel platform, Rus. J. Nonlin. Dyn., 2015, Vol. 11, No. 1, pp.  187-204
    Kilin A. A., Karavaev Y. L.
    The kinematic control model for a spherical robot with an internal omniwheel platform is presented. We consider singularities of control of spherical robot with an unbalanced internal omniwheel platform. The general algorithm of control of spherical robot according to the kinematical quasi-static model and controls for simple trajectories (a straight line and in a circle) are presented. Experimental investigations have been carried out for all introduced control algorithms.
    Keywords: spherical robot, kinematic model, nonholonomic constraint, omniwheel, displacement of center of mass
    Citation: Kilin A. A., Karavaev Y. L.,  The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform, Rus. J. Nonlin. Dyn., 2014, Vol. 10, No. 4, pp.  497-511
    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
    Borisov A. V., Mamaev I. S., Karavaev Y. L.
    On the loss of contact of the Euler disk
    2013, Vol. 9, No. 3, pp.  499-506
    The paper presents experimental investigation of a homogeneous circular disk rolling on a horizontal plane. In this paper two methods of experimental determination of the loss of contact between the rolling disk and the horizontal surface before the abrupt halt are proposed. Experimental results for disks of different masses and different materials are presented. The reasons for “micro losses” of contact with surface revealed during the rolling are discussed.
    Keywords: Euler disk, loss of contact, experiment
    Citation: Borisov A. V., Mamaev I. S., Karavaev Y. L.,  On the loss of contact of the Euler disk, Rus. J. Nonlin. Dyn., 2013, Vol. 9, No. 3, pp.  499-506
    Karavaev Y. L., Trefilov S. A.
    The paper deals with deviation based control algorithm for trajectory following of omni-wheeled mobile robot. The kinematic model and the dynamics of the robot actuators are described.
    Keywords: omni-wheeled mobile robot, discrete algorithm, deviation based control, linearization, feedback
    Citation: Karavaev Y. L., Trefilov S. A.,  Deviation based discrete control algorithm for omni-wheeled mobile robot, Rus. J. Nonlin. Dyn., 2013, Vol. 9, No. 1, pp.  91-100

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