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    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.



    Keywords: spherical robot, dynamical model, non-holonomic constraint, omniwheel, stability
    Citation: Karavaev Y. L., Kilin A. A., The dynamic of a spherical robot with an internal omniwheel platform, Rus. J. Nonlin. Dyn., 2015, Vol. 11, No. 1, pp.  187-204
    DOI:10.20537/nd1501011


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