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

Alexander A. Kilin ; Yury L. Karavaev ; Anton V. Klekovkin

Russian journal of nonlinear dynamics, Tome 10 (2014) no. 1, pp. 113-126.

Résumé

In this article a kinematic model of the spherical robot is considered, which is set in motion by the internal platform with omni-wheels. It has been introduced a description of construction, algorithm of trajectory planning according to developed kinematic model, it has been realized experimental research for typical trajectories: moving along a straight line and moving along a circle.

Détail

Keywords: spherorobot, kinematic model, non-holonomic constraint, omni-wheel.

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