Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane

In this work we consider a model of the controlled motion of a spherical robot with an axisymmetric pendulum actuator on an inclined plane. First integrals of motion and partial solutions are presented and their stability is analyzed. It is shown that steady solutions exist only at an inclination angle less than some critical value and only for constant control action.

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14.10.2018

Publication date

16.10.2018

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361

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GOST	Ivanova T., Kilin A., Pivovarova E. Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane // Doklady Akademii nauk – 2018. – V. 481. – Issue 3 C. 258-263 [Electronic resource]. URL: http://ras.jes.su/dan/s207987840000613-3-1-en (circulation date: 25.03.2025). DOI: 10.31857/S086956520001374-4
MLA	Ivanova, Tatiana, Kilin, Aleksandr, Pivovarova, Elena "Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane." Doklady Akademii nauk 481.3 (2018):258-263. DOI: 10.31857/S086956520001374-4
APA	Ivanova T., Kilin A., Pivovarova E. (2018). Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane. Doklady Akademii nauk 481(3), pp.258-263 DOI: 10.31857/S086956520001374-4

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