Geodesic
Dynamics and control of a spherical robot with an axisymmetric pendulum actuator
Russian journal of nonlinear dynamics, Tome 9 (2013) no. 3, pp. 507-520

Voir la notice de l'article provenant de la source Math-Net.Ru

This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits — the simplest motions such as acceleration and deceleration during the motion in a straight line, rotation through a given angle and their combination. Also, the controlled motion of the system along a straight line with a constant acceleration is considered. For this problem the algorithm for calculating the control torques is given and it is shown that the resulting reduced system has the first integral of motion.
Keywords: non-holonomic constraint, control, spherical shell, integral of motion. 
@article{ND_2013_9_3_a7,
     author = {Tatyana B. Ivanova and Elena N. Pivovarova},
     title = {Dynamics and control of a spherical robot with an axisymmetric pendulum actuator},
     journal = {Russian journal of nonlinear dynamics},
     pages = {507--520},
     publisher = {mathdoc},
     volume = {9},
     number = {3},
     year = {2013},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2013_9_3_a7/}
}
TY  - JOUR
AU  - Tatyana B. Ivanova
AU  - Elena N. Pivovarova
TI  - Dynamics and control of a spherical robot with an axisymmetric pendulum actuator
JO  - Russian journal of nonlinear dynamics
PY  - 2013
SP  - 507
EP  - 520
VL  - 9
IS  - 3
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/item/ND_2013_9_3_a7/
LA  - ru
ID  - ND_2013_9_3_a7
ER  - 
%0 Journal Article
%A Tatyana B. Ivanova
%A Elena N. Pivovarova
%T Dynamics and control of a spherical robot with an axisymmetric pendulum actuator
%J Russian journal of nonlinear dynamics
%D 2013
%P 507-520
%V 9
%N 3
%I mathdoc
%U http://geodesic.mathdoc.fr/item/ND_2013_9_3_a7/
%G ru
%F ND_2013_9_3_a7
Tatyana B. Ivanova; Elena N. Pivovarova. Dynamics and control of a spherical robot with an axisymmetric pendulum actuator. Russian journal of nonlinear dynamics, Tome 9 (2013) no. 3, pp. 507-520. http://geodesic.mathdoc.fr/item/ND_2013_9_3_a7/