Comparative Analysis of the Dynamics of a Spherical Robot with a Balanced Internal Platform Taking into Account Different Models of Contact Friction

DOI10.20537/ND221219OpenAlexW4312936515MaRDI QIDQ6078931

Unnamed Author, Unnamed Author, B. I. Adamov

Publication date: 28 September 2023

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

Full work available at URL: http://mathnet.ru/eng/nd825

zbMATH Keywords

spherical robotdynamics modelomniwheelkinematics modelomniplatformmulticomponent friction

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25) Motion of a rigid body in contact with a solid surface (70E18)

Cites Work

• How to control the Chaplygin ball using rotors. II
• Controlled motion of a spherical robot with feedback. II.
• On the model of non-holonomic billiard
• How to control Chaplygin's sphere using rotors
• Controlled motion of a spherical robot with feedback. I
• The dynamics of Chaplygin ball: the qualitative and computer analysis
• Rolling of a ball without spinning on a plane: the absence of an invariant measure in a system with a complete set of integrals
• The dynamics and control of a spherical robot with an internal omniwheel platform
• A Study of the Controlled Motion of a Four-wheeled Mecanum Platform
• Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform
• The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform

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