This article is cited in 2 papers

Control of the spherical robot by means of fly-wheels

G. P. Terehov, V. E. Pavlovsky


Abstract: The theoretical mechanical model of the spherical robot with the flywheels located in a sphere is considered. The described design intends for motion control of a sphere on various trajectories. In work 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. Dynamical models of a sphere robot, different models of friction are considered, as the main model of friction the two-parametrical model is considered. In work technical capability of realization of a sphere robot with flywheels is proved.

Keywords: the spherical robot, dynamic models, two-parametrical model of friction, control algorithm of a sphere by means a flywheels.

UDC: 531.1

DOI: 10.20948/prepr-2017-16