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

DOI10.20537/ND1401008MaRDI QIDQ5247516zbMATH OpenOpenAlexFDO

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

Publication date 24 April 2015

Published in Nelineinaya Dinamika (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NoDerivs 4.0 International

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

zbMATH Keywords

non-holonomic constraintkinematic modelomni-wheel platformspherorobot

Mathematics Subject Classification ID

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

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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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