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.
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