The dynamic of a spherical robot with an internal omniwheel platform

Karavaev, Yury L.; Kilin, Alexander A.

doi:10.20537/nd1501011

Cited by 3 publications

(2 citation statements)

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“…The equations of motion of the spherical shell with the rigid body inside, which contacts the shell by means of omniwheels, have the form (see [18])…”

Section: Equations Of Motionmentioning

confidence: 99%

“…The problem of controlling the spherical robot (spherical shell) using various mechanisms that set it in motion is one of the urgent problems of nonholonomic mechanics and robotics. These are rotary mechanisms [7][8][9][10][11][12], pendulum mechanisms [13][14][15][16][17], mechanisms with omniwheels [18][19][20] and some others [21,22]. In these works, the equations of motion of the studied mechanical systems are given and control actions for the realization of motion are obtained.…”

Section: Introductionmentioning

confidence: 99%

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Control of a Spherical Robot with a Nonholonomic Omniwheel Hinge Inside

Mikishanina

2024

Nelin. Dinam.

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This study investigates the rolling along the horizontal plane of two coupled rigid bodies: a spherical shell and a dynamically asymmetric rigid body which rotates around the geometric center of the shell. The inner body is in contact with the shell by means of omniwheels. A complete system of equations of motion for an arbitrary number of omniwheels is constructed. The possibility of controlling the motion of this mechanical system along a given trajectory by controlling the angular velocities of omniwheels is investigated. The cases of two omniwheels and three omniwheels are studied in detail. It is shown that two omniwheels are not enough to control along any given curve. It is necessary to have three or more omniwheels. The quaternion approach is used to study the dynamics of the system.

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“…The equations of motion of the spherical shell with the rigid body inside, which contacts the shell by means of omniwheels, have the form (see [18])…”

Section: Equations Of Motionmentioning

confidence: 99%