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

DOI10.20537/ND1401008zbMATH Open1310.93064OpenAlexW2334821928MaRDI QIDQ5247516FDOQ5247516

Authors: Yury L. Karavaev, Anton Klekovkin, Alexander A. Kilin 

Publication date: 24 April 2015

Published in: Nelineinaya Dinamika (Search for Journal in Brave)

Full work available at URL: http://mathnet.ru/eng/nd428

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zbMATH Keywords

non-holonomic constraintkinematic modelomni-wheel platformspherorobot

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)

Cited In (15)

• Research on the dynamics of an omnidirectional platform taking into account real design of mecanum wheels (as exemplified by KUKA youBot)
• Design and analysis of a spherical mobile robot
• Dynamics and control of an omniwheel vehicle
• On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors
• The effects of dual row omnidirectional wheels on the kinematics of the Atlas spherical motion platform
• Comparative Analysis of the Dynamics of a Spherical Robot with a Balanced Internal Platform Taking into Account Different Models of Contact Friction
• Spherical Robots: An Up-to-Date Overview of Designs and Features
• Control of a spherical robot with a nonholonomic omniwheel hinge inside
• Geometry and kinematics of the Mecanum wheel on a plane and a sphere
• The dynamics and control of a spherical robot with an internal omniwheel platform
• A new mobile ball robot-dynamic modeling and simulation
• The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform
• Kinematics modeling of an omnidirectional autonomous mobile robot with castor wheels
• Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: theory and experiments
• A study of the controlled motion of a four-wheeled mecanum platform

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