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

被引：11
|
作者：
Ivanova, T. B. [1 ,2 ]
Kilin, A. A. [1 ,3 ]
Pivovarova, E. N. [1 ,2 ]
机构：
[1] Udmurt State Univ, Ul Univ Skaya 1, Izhevsk 426034, Russia
[2] Russian Acad Sci, Blagonravov Mech Engn Res Inst, Ul Bardina 4, Moscow 117334, Russia
[3] Moscow Inst Phys & Technol, Inst Per 9, Dolgoprudnyi 141701, Moscow Region, Russia
来源：
DOKLADY PHYSICS | 2018年 / 63卷 / 07期
关键词：
INTERNAL OMNIWHEEL PLATFORM; DYNAMICS;
D O I：
10.1134/S1028335818070091
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
This paper is concerned with 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 the steady solutions exist only at an inclination angle less than some critical value and only for constant control action.
引用
收藏
页码：302 / 306
页数：5
相关论文
共 50 条
  • [11] Design and validation of a novel adaptive motion control for a pendulum spherical robot
    Huo, Jianwen
    Lin, Rui
    Yang, Maotao
    ROBOTICA, 2023, 41 (07) : 2031 - 2049
  • [12] Impedance Estimation and Motion Control of a Pendulum-Driven Spherical Robot
    Kolbari, Hamidreza
    Ahmadi, Alireza
    Bahrami, Mohsen
    Janati, Farzam
    2018 6TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2018), 2018, : 6 - 11
  • [13] Control of a pendulum-actuated spherical robot on a horizontal plane with rolling resistance
    Tatiana B. Ivanova
    Yury L. Karavaev
    Alexander A. Kilin
    Archive of Applied Mechanics, 2022, 92 : 137 - 150
  • [14] Control of a pendulum-actuated spherical robot on a horizontal plane with rolling resistance
    Ivanova, Tatiana B.
    Karavaev, Yury L.
    Kilin, Alexander A.
    ARCHIVE OF APPLIED MECHANICS, 2022, 92 (01) : 137 - 150
  • [15] Motion of an inclined cylinder on an inclined plane
    Cross, Rod
    EUROPEAN JOURNAL OF PHYSICS, 2015, 36 (05)
  • [16] Dynamic Model and Motion Planning for a Pendulum-Actuated Spherical Rolling Robot
    Svinin, Mikhail
    Bai, Yang
    Yamamoto, Motoji
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 656 - 661
  • [17] Controlled Motion of a Spherical Robot with Feedback. I
    Tatyana B. Ivanova
    Alexander A. Kilin
    Elena N. Pivovarova
    Journal of Dynamical and Control Systems, 2018, 24 : 497 - 510
  • [18] Controlled Motion of a Spherical Robot with Feedback. II
    Tatyana B. Ivanova
    Alexander A. Kilin
    Elena N. Pivovarova
    Journal of Dynamical and Control Systems, 2019, 25 : 1 - 16
  • [19] Controlled Motion of a Spherical Robot with Feedback. I
    Ivanova, Tatyana B.
    Kilin, Alexander A.
    Pivovarova, Elena N.
    JOURNAL OF DYNAMICAL AND CONTROL SYSTEMS, 2018, 24 (03) : 497 - 510
  • [20] Controlled Motion of a Spherical Robot with Feedback. II
    Ivanova, Tatyana B.
    Kilin, Alexander A.
    Pivovarova, Elena N.
    JOURNAL OF DYNAMICAL AND CONTROL SYSTEMS, 2019, 25 (01) : 1 - 16
12345