MATEC Web Conf.
Volume 113, 201712th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2017
|Number of page(s)||5|
|Section||Robotics and Automation|
|Published online||20 June 2017|
Controlling spherical mobile robot in a two-parametric friction model
1 Moscow State University, Moscow, Russia
2 Keldysh Institute of Applied Mathematics of RAS, Moscow, Russia
* Corresponding author: firstname.lastname@example.org
The theoretical mechanical model of the spherical robot with the flywheels located in a sphere is considered. The described design is intended for the motion control of a sphere on various trajectories. In the paper, control algorithms of a sphere on basic trajectories are investigated; the movements from rotation on the point and the movements on a straight line piece before the basic movements on curvilinear trajectories are considered. The paper describes dynamical models of a sphere robot, different models of friction, as well as a two-parametrical model as the main model of friction. Technical possibility of realization of a sphere robot with flywheels is proved.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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