Alexander Kobrin
Publications:
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Saypulaev G. R., Adamov B. I., Kobrin A. I.
Comparative Analysis of the Dynamics of a Spherical Robot with a Balanced Internal Platform Taking into Account Different Models of Contact Friction
2022, Vol. 18, no. 5, pp. 803-815
Abstract
The subject of this paper is a spherical robot with an internal platform with four classictype
omniwheels. The motion of the spherical robot on a horizontal surface is considered and
its kinematics is described. The aim of the research is to study the dynamics of the spherical
robot with different levels of detailing of the contact friction model. Nonholonomic models of
the dynamics of the robot with different levels of detailing of the contact friction model are
constructed. The programmed control of the motion of the spherical robot using elementary
maneuvers is proposed. A simulation of motion is carried out and the efficiency of the proposed
control is confirmed. It is shown that, at low speeds of motion of the spherical robot, it is
allowed to use a model obtained under the assumption of no slipping between the sphere and the
floor. The influence of the contact friction model at high-speed motions of the spherical robot
on its dynamics under programmed control is demonstrated. This influence leads to the need
to develop more accurate models of the motion of a spherical robot and its contact interaction
with the supporting surface in order to increase the accuracy of motion control based on these
models.
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