Geodesic
Stabilization of a Spherical Robot with an Internal Pendulum During Motion on an Oscillating Base
Russian journal of nonlinear dynamics, Tome 20 (2024) no. 5, pp. 845-858

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

This paper is concerned with the experimental development of the stabilizing regulator for a spherical pendulum-type robot moving on an oscillating base. Using a mathematical model of the motion of the spherical robot with an internal pendulum mechanism, a regulator stabilizing the lower position of the pendulum is developed. The developed regulator has been tested in practice by means of a real prototype of the spherical robot. The results of real experiments are presented to assess the stabilization of the lower position of the pendulum of the spherical robot during its motion along a straight line on a plane executing longitudinal oscillations, and during the stabilization of the lower position of the pendulum, when the spherical shell remains fixed relative to the plane.
Keywords: spherical robot, stabilization, rolling motion
Mots-clés : vibrations 
@article{ND_2024_20_5_a8,
     author = {A. V. Klekovkin and Yu. L. Karavaev and A. V. Nazarov},
     title = {Stabilization of a {Spherical} {Robot} with an {Internal} {Pendulum} {During} {Motion} on an {Oscillating} {Base}},
     journal = {Russian journal of nonlinear dynamics},
     pages = {845--858},
     publisher = {mathdoc},
     volume = {20},
     number = {5},
     year = {2024},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/ND_2024_20_5_a8/}
}
TY  - JOUR
AU  - A. V. Klekovkin
AU  - Yu. L. Karavaev
AU  - A. V. Nazarov
TI  - Stabilization of a Spherical Robot with an Internal Pendulum During Motion on an Oscillating Base
JO  - Russian journal of nonlinear dynamics
PY  - 2024
SP  - 845
EP  - 858
VL  - 20
IS  - 5
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/item/ND_2024_20_5_a8/
LA  - en
ID  - ND_2024_20_5_a8
ER  - 
%0 Journal Article
%A A. V. Klekovkin
%A Yu. L. Karavaev
%A A. V. Nazarov
%T Stabilization of a Spherical Robot with an Internal Pendulum During Motion on an Oscillating Base
%J Russian journal of nonlinear dynamics
%D 2024
%P 845-858
%V 20
%N 5
%I mathdoc
%U http://geodesic.mathdoc.fr/item/ND_2024_20_5_a8/
%G en
%F ND_2024_20_5_a8
A. V. Klekovkin; Yu. L. Karavaev; A. V. Nazarov. Stabilization of a Spherical Robot with an Internal Pendulum During Motion on an Oscillating Base. Russian journal of nonlinear dynamics, Tome 20 (2024) no. 5, pp. 845-858. http://geodesic.mathdoc.fr/item/ND_2024_20_5_a8/