Email this article Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane
- Authors: Ivanova T.B.1,2, Kilin A.A.1,3, Pivovarova E.N.1,2
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Affiliations:
- Udmurt State University
- Blagonravov Mechanical Engineering Research Institute, Russian Academy of Sciences
- Moscow Institute of Physics and Technology (State University)
- Issue: Vol 63, No 7 (2018)
- Pages: 302-306
- Section: Mechanics
- URL: https://journals.rcsi.science/1028-3358/article/view/192383
- DOI: https://doi.org/10.1134/S1028335818070091
- ID: 192383
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Abstract
This paper is concerned with a model of the controlled motion of a spherical robot with an axisymmetric pendulum actuator on an inclined plane. First integrals of motion and partial solutions are presented and their stability is analyzed. It is shown that the steady solutions exist only at an inclination angle less than some critical value and only for constant control action.
About the authors
T. B. Ivanova
Udmurt State University; Blagonravov Mechanical Engineering Research Institute, Russian Academy of Sciences
Author for correspondence.
Email: tbesp@rcd.ru
Russian Federation, ul. Universitetskaya 1,
Izhevsk, 426034; ul. Bardina 4, Moscow,
117334
A. A. Kilin
Udmurt State University; Moscow Institute of Physics and Technology (State University)
Author for correspondence.
Email: aka@rcd.ru
Russian Federation, ul. Universitetskaya 1,
Izhevsk, 426034; Institutskii per. 9, Dolgoprudnyi, Moscow region, 141701
E. N. Pivovarova
Udmurt State University; Blagonravov Mechanical Engineering Research Institute, Russian Academy of Sciences
Author for correspondence.
Email: archive@rcd.ru
Russian Federation, ul. Universitetskaya 1,
Izhevsk, 426034; ul. Bardina 4, Moscow,
117334
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