Abstract
We present the results of theoretical and experimental investigations of the motion of a spherical robot on a plane. The motion is actuated by a platform with omniwheels placed inside the robot. The control of the spherical robot is based on a dynamic model in the nonholonomic statement expressed as equations of motion in quasivelocities with indeterminate coefficients. A number of experiments have been carried out that confirm the adequacy of the dynamic model proposed.
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Original Russian Text © Yu.L. Karavaev, A.A. Kilin, 2016, published in Trudy Matematicheskogo Instituta imeni V.A. Steklova, 2016, Vol. 295, pp. 174–183.
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Karavaev, Y.L., Kilin, A.A. Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: Theory and experiments. Proc. Steklov Inst. Math. 295, 158–167 (2016). https://doi.org/10.1134/S0081543816080095
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DOI: https://doi.org/10.1134/S0081543816080095