A motion control for a spherical robot with pendulum drive

被引：0
|
作者：
D. V. Balandin
M. A. Komarov
G. V. Osipov
机构：
[1] N.I. Labachevskii Nizhnii Novgorod State University,
来源：
Journal of Computer and Systems Sciences International | 2013年 / 52卷
关键词：
Spherical Shell; System Science International; Control Torque; Robot Motion; Nonholonomic Constraint;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Problems of controlling a spherical robot with pendulum drive are considered. A mathematical model of the dynamics of this robot is constructed and control laws in the form of state feedback that provide robot motion along a given trajectory are synthesized. Results of computer simulation that demonstrate efficiency of the proposed control laws are presented.
引用
收藏
页码：650 / 663
页数：13
相关论文
共 50 条
  • [1] A motion control for a spherical robot with pendulum drive
    Balandin, D. V.
    Komarov, M. A.
    Osipov, G. V.
    [J]. JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL, 2013, 52 (04) : 650 - 663
  • [2] Design and validation of a novel adaptive motion control for a pendulum spherical robot
    Huo, Jianwen
    Lin, Rui
    Yang, Maotao
    [J]. ROBOTICA, 2023, 41 (07) : 2031 - 2049
  • [3] Impedance Estimation and Motion Control of a Pendulum-Driven Spherical Robot
    Kolbari, Hamidreza
    Ahmadi, Alireza
    Bahrami, Mohsen
    Janati, Farzam
    [J]. 2018 6TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2018), 2018, : 6 - 11
  • [4] Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane
    Ivanova, T. B.
    Kilin, A. A.
    Pivovarova, E. N.
    [J]. DOKLADY PHYSICS, 2018, 63 (07) : 302 - 306
  • [5] Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane
    T. B. Ivanova
    A. A. Kilin
    E. N. Pivovarova
    [J]. Doklady Physics, 2018, 63 : 302 - 306
  • [6] Omnidirectional Locomotion Control of a Pendulum Driven Spherical Robot
    Muraleedharan, Narendran
    Cohen, Daniel S.
    Isenberg, Douglas R.
    [J]. SOUTHEASTCON 2016, 2016,
  • [7] Motion control of a spherical mobile robot
    Halme, A
    Schonberg, T
    Wang, Y
    [J]. AMC '96-MIE - 1996 4TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS, VOLS 1 AND 2, 1996, : 259 - 264
  • [8] Motion Control Analysis of a Spherical Robot as a Surveillance Robot
    Dewi, Tresna
    Risma, Pola
    Oktarina, Yurni
    Kusumanto, R. D.
    [J]. 2ND FORUM IN RESEARCH, SCIENCE, AND TECHNOLOGY, 2019, 1167
  • [9] Tracking Control of a Spherical Inverted Pendulum with an Omnidirectional Mobile Robot
    Kao, Sho-Tsung
    Ho, Ming-Tzu
    [J]. 2017 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND INTELLIGENT SYSTEMS (ARIS), 2017, : 52 - 57
  • [10] Design and Motion Control of a Spherical robot with Stereovision
    Ye Ping
    Sun Hanxu
    Qiu Zhongjiang
    Chen Jiazhen
    [J]. PROCEEDINGS OF THE 2016 IEEE 11TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2016, : 1276 - 1282
12345