Control of the Rolling Motion of a Spherical Robot on an Inclined Plane

被引：3
|
作者：
Ivanova, T. B. [1 ]
Kilin, A. A. [1 ]
Pivovarova, E. N. [1 ]
机构：
[1] RAS, AV Steklov Math Inst, Moscow 119991, Russia
来源：
DOKLADY PHYSICS | 2018年 / 63卷 / 10期
基金：
俄罗斯科学基金会;
关键词：
NONHOLONOMIC SYSTEMS; RIGID-BODY; DYNAMICS;
D O I：
10.1134/S1028335818100099
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
In this work we consider the controlled motion of a pendulum spherical robot on an inclined plane. The algorithm for determining the control actions for the motion along an arbitrary trajectory and examples of numerical simulation of the controlled motion are given.
引用
收藏
页码：435 / 440
页数：6
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