Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform

Abstract

В статье рассматривается кинематическая модель сфероробота, приводимого в движение расположенной внутри платформой с омниколесами. Представлены описание конструкции, алгоритм планирования траектории по разработанной кинематической модели, проведены экспериментальные исследования для типовых траекторий: движение по прямой и движение по окружности.

Control of a Spherical Robot with a Nonholonomic Omniwheel Hinge Inside

“…To build a mathematical model of this mechanical system and to make the subsequent mathematical calculations clearer, we describe a nonholonomic model of the omniwheel in the spherical shell, the main provisions of which are set out in [25].…”

“…The design of the omniwheel is shown in Fig. 2, [25]. We assume that the planes of all omniwheels are parallel to the plane Cxy, the normals to the plane of the omniwheels are parallel to the axis Cz, the radius vector of the center of the ith omniwheel lies in the plane Cxy and is at an angle…”

“…Then the nonholonomic constraints which ensure that the omniwheels do not slip at the contact points have the form [25]…”

Spherical Robots: An Up-to-Date Overview of Designs and Features

“…The authors of [108][109][110] have been able to considerably improve, by changing the profile of the wheel roller, the accuracy of the motion of the spherical robot with an internal omniwheeled…”