The dynamics and control of a spherical robot with an internal omniwheel platform

DOI10.1134/S1560354715020033zbMath1317.93192OpenAlexW2006125778WikidataQ56420232 ScholiaQ56420232MaRDI QIDQ2516362

Alexander A. Kilin, Yury L. Karavaev

Publication date: 31 July 2015

Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1134/s1560354715020033

zbMATH Keywords

dynamic modelnonholonomic constraintspherical robotkinematic modelomniwheel

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

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