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    The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform

    2014, Vol. 10, No. 4, pp.  497-511

    Author(s): 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
    DOI:10.20537/nd1404009


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