Control of The Rolling Motion of a Spherical Robot on an Inclined Plane

In this work we consider the controlled motion of a pendulum spherical robot on an inclined plane. The algorithm for determining the control actions for the motion along an arbitrary trajectory and examples of numerical simulation of the controlled motion are given.

Keywords

Received

06.12.2018

Publication date

13.12.2018

Cite Download pdf To download PDF you should sign in

GOST	Ivanova T., Kilin A., Pivovarova E. Control of The Rolling Motion of a Spherical Robot on an Inclined Plane // Doklady Akademii nauk – 2018. – V. 482. – Issue 6 C. 655-660 [Electronic resource]. URL: http://ras.jes.su/dan/s086956520002923-8-1-en (circulation date: 29.04.2024). DOI: 10.31857/S086956520002923-8
MLA	Ivanova, Tatiana, Kilin, Aleksandr, Pivovarova, Elena "Control of The Rolling Motion of a Spherical Robot on an Inclined Plane." Doklady Akademii nauk 482.6 (2018):655-660. DOI: 10.31857/S086956520002923-8
APA	Ivanova T., Kilin A., Pivovarova E. (2018). Control of The Rolling Motion of a Spherical Robot on an Inclined Plane. Doklady Akademii nauk 482(6), pp.655-660 DOI: 10.31857/S086956520002923-8

Размещенный ниже текст является ознакомительной версией и может не соответствовать печатной

Readers community rating: votes 0

1. Ivanova T.B., Kilin A.A., Pivovarova E.N. Upravlyaemoe dvizhenie sfericheskogo robota mayatnikovogo tipa na naklonnoj ploskosti // Doklady akademii nauk. 2018 (v pechati).

2. Ivanova T.B., Pivovarova E.N. Dinamika i upravlenie sfericheskim robotom s osesimmetrichnym mayatnikovym privodom // Nelinejnaya dinamika. 2013. T. 9. №3. S. 507–520.

3. Borisov A.V., Mamaev I. S. Two Non-holonomic Integrable Problems Tracing Back to Chaplygin // Regul. Chaotic Dyn. 2012. V. 17. №2. P. 191–198.

4. Kilin A.A., Pivovarova E.N., Ivanova T. B. Spherical Robot of Combined Type: Dynamics and Control // Regul. Chaotic Dyn. 2015. V. 20. №6. P. 716–728.

5. Balandin D. V., Komarov M.A., Osipov G.V. Upravlenie dvizheniem sferi- cheskogo robota s mayatnikovym privodom // Izvestiya RAN. Teoriya i sistemy upravleniya. 2013. №4. S. 150–163.

6. Borisov A.V., Mamaev I. S., Bizyaev I.A. The Hierarchy of Dynamics of a Rigid Body Rolling Without Slipping and Spinning on a Plane and a Sphere // Regul. Chaotic Dyn. 2013. V. 18.№3. P. 277–328.

7. Borisov A.V., Mamaev I. S. Izomorfizm i gamil'tonovo predstavlenie nekotorykh negolonomnykh sistem // Sibirskij matematicheskij zhurnal. 2007. T. 48. №1. S. 33–45.

8. Bizyaev I.A., Borisov A.V., Mamaev I. S. The Dynamics of Nonholonomic Systems Consisting of a Spherical Shell with a Moving Rigid Body Inside // Regul. Chaotic Dyn. 2014. V. 19. №. 2. P. 198–213.

9. Ivanova T.B., Kilin A.A., Pivovarova E. N. Controlled Motion of a Spherical Robot with Feedback. I // J. Dyn. Control Syst. 2017. https://doi.org/10.1007/s10883-017-9387-2