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    Anton Klekovkin

    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., 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

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