Select language: En
0
2013
Impact Factor

    Dynamics and Control of a Spherical Robot with an Axisymmetric Pendulum Actuator

    2013, Vol. 9, No. 3, pp.  507-520

    Author(s): Ivanova T. B., Pivovarova E. N.

    This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits — the simplest motions such as acceleration and deceleration during the motion in a straight line, rotation through a given angle and their combination. Also, the controlled motion of the system along a straight line with a constant acceleration is considered. For this problem the algorithm for calculating the control torques is given and it is shown that the resulting reduced system has the first integral of motion.



    Keywords: non-holonomic constraint, control, spherical shell, integral of motion
    Citation: Ivanova T. B., Pivovarova E. N., Dynamics and Control of a Spherical Robot with an Axisymmetric Pendulum Actuator, Rus. J. Nonlin. Dyn., 2013, Vol. 9, No. 3, pp.  507-520
    DOI:10.20537/nd1303008


    Download Dynamics and Control of a Spherical Robot with an Axisymmetric Pendulum Actuator
    PDF, 582.48 Kb