Control of a Vehicle with Omniwheels on a Plane

DOI10.20537/nd1404007zbMath1353.70035OpenAlexW2188978302MaRDI QIDQ5247546

Andrei D. Bobykin, Alexander A. Kilin

Publication date: 24 April 2015

Published in: Nelineinaya Dinamika (Search for Journal in Brave)

Full work available at URL: http://mathnet.ru/eng/nd458

zbMATH Keywords

controllabilityintegrabilitydynamical systemnonholonomic constraintomniwheelroller bearing wheel

Mathematics Subject Classification ID

Controllability (93B05) Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25) Dynamics of multibody systems (70E55) Motion of a rigid body in contact with a solid surface (70E18)

Related Items (5)

Dynamics-Based Piecewise Constant Control of an Omnivehicle ⋮ The Integrable Problem of the Rolling Motion of a Dynamically Symmetric Spherical Top with One Nonholonomic Constraint ⋮ The Problem of Balancing an Inverted Spherical Pendulum on an Omniwheel Platform ⋮ Criteria of Motion Without Slipping for an Omnidirectional Mobile Robot ⋮ A Study of the Controlled Motion of a Four-wheeled Mecanum Platform

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