The dynamic of a spherical robot with an internal omniwheel platform
2015, Vol. 11, No. 1, pp. 187-204
Author(s): Karavaev Y. L., Kilin A. A.
The dynamic model for a spherical robot with an internal omniwheel platform is presented. Equations of motion and first integrals according to the non-holonomic model are given. We consider particular solutions and their stability. The algorithm of control of spherical robot for movement along a given trajectory are presented.
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