Geodesic
The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform
Russian journal of nonlinear dynamics, Tome 10 (2014) no. 4, pp. 497-511.

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The kinematic control model for a spherical robot with an internal omniwheel platform is presented. We consider singularities of control of spherical robot with an unbalanced internal omniwheel platform. The general algorithm of control of spherical robot according to the kinematical quasi-static model and controls for simple trajectories (a straight line and in a circle) are presented. Experimental investigations have been carried out for all introduced control algorithms.
Keywords: spherical robot, kinematic model, nonholonomic constraint, omniwheel, displacement of center of mass. 
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Alexander A. Kilin; Yury L. Karavaev. The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform. Russian journal of nonlinear dynamics, Tome 10 (2014) no. 4, pp. 497-511. http://geodesic.mathdoc.fr/item/ND_2014_10_4_a8/

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