Dynamics and Control of a Spherical Robot with an Axisymmetric Pendulum Actuator
Dynamical Systems
2021-09-28 v1 Classical Physics
Abstract
This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits - the simplest motions such as acceleration and deceleration during the motion in a straight line, rotation through a given angle and their combination. Also, the controlled motion of the system along a straight line with a constant acceleration is considered. For this problem the algorithm for calculating the control torques is given and it is shown that the resulting reduced system has the first integral of motion.
Keywords
Cite
@article{arxiv.1511.02655,
title = {Dynamics and Control of a Spherical Robot with an Axisymmetric Pendulum Actuator},
author = {Tatyana B. Ivanova and Elena N. Pivovarova},
journal= {arXiv preprint arXiv:1511.02655},
year = {2021}
}
Comments
14 pages, 10 figures