Dynamics and control of an omniwheel vehicle

DOI10.1134/S1560354715020045zbMath1367.70033OpenAlexW2019670455MaRDI QIDQ2516363

Alexey V. Borisov, Alexander A. Kilin, Ivan. S. Mamaev

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/s1560354715020045

zbMATH Keywords

controllabilityintegrabilitydynamical systeminvariant measurenonholonomic constraintomniwheelroller-bearing wheel

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonholonomic systems related to the dynamics of a system of particles (70F25) Dynamics of multibody systems (70E55) Motion of a rigid body in contact with a solid surface (70E18)

Related Items

Control of body motion in an ideal fluid using the internal mass and the rotor in the presence of circulation around the body ⋮ The dynamics of systems with servoconstraints. II ⋮ On the control of a robot ball using two omniwheels ⋮ On the connection of the quadratic Liénard equation with an equation for the elliptic functions ⋮ The Integrable Problem of the Rolling Motion of a Dynamically Symmetric Spherical Top with One Nonholonomic Constraint ⋮ Dynamics of an unbalanced disk with a single nonholonomic constraint ⋮ An inhomogeneous Chaplygin sleigh ⋮ On Global Trajectory Tracking Control for an Omnidirectional Mobile Robot with a Displaced Center of Mass ⋮ Exotic dynamics of nonholonomic roller racer with periodic control ⋮ The dynamics of systems with servoconstraints. I ⋮ The Jacobi integral in nonholonomic mechanics ⋮ Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments ⋮ On the integrability conditions for a family of Liénard-type equations ⋮ Criteria of Motion Without Slipping for an Omnidirectional Mobile Robot ⋮ On the Stability and Stabilization Problems of Volterra Integro-Differential Equations ⋮ Qualitative analysis of the nonholonomic rolling of a rubber wheel with sharp edges

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors
• How to control the Chaplygin ball using rotors. II
• On the motion of a mechanical system inside a rolling ball
• The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere
• Stability of steady motions of a mobile robot with roller-carrying wheels and a displaced centre of mass
• Topological analysis of an integrable system related to the rolling of a ball on a sphere
• Non-existence of an invariant measure for a homogeneous ellipsoid rolling on the plane
• The inhomogeneous Suslov problem
• One invariant measure and different Poisson brackets for two non-holonomic systems
• How to control Chaplygin's sphere using rotors
• On the motion of a mobile robot with roller-carrying wheels
• The reversal and chaotic attractor in the nonholonomic model of Chaplygin's top
• Rolling of a ball without spinning on a plane: the absence of an invariant measure in a system with a complete set of integrals
• Nonintegrability and obstructions to the Hamiltonianization of a nonholonomic Chaplygin top
• The dynamics of the Chaplygin ball with a fluid-filled cavity
• Strange attractors and mixed dynamics in the problem of an unbalanced rubber ball rolling on a plane
• Richness of chaotic dynamics in nonholonomic models of a Celtic stone
• The problem of drift and recurrence for the rolling Chaplygin ball
• On the Lie integrability theorem for the Chaplygin ball
• The dynamics of nonholonomic systems consisting of a spherical shell with a moving rigid body inside
• The dynamics and control of a spherical robot with an internal omniwheel platform
• The generalized Euler–Poinsot rigid body equations: explicit elliptic solutions
• Kovalevskaya's method in rigid body dynamics
• 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