Control of the Rolling Motion of a Spherical Robot on an Inclined Plane

T. B. Ivanova; A. A. Kilin; E. N. Pivovarova

doi:10.1134/S1028335818100099

Control of the Rolling Motion of a Spherical Robot on an Inclined Plane

Authors: Ivanova T.B.¹, Kilin A.A.¹, Pivovarova E.N.¹
Affiliations:
1. V.A. Steklov Mathematical Institute RAS
Issue: Vol 63, No 10 (2018)
Pages: 435-440
Section: Mechanics
URL: https://journals.rcsi.science/1028-3358/article/view/192543
DOI: https://doi.org/10.1134/S1028335818100099
ID: 192543

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Abstract
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Abstract

In this work we consider the controlled motion of a pendulum spherical robot on an inclined plane. The algorithm for determining the control actions for the motion along an arbitrary trajectory and examples of numerical simulation of the controlled motion are given.

Keywords

Spherical Robot, Inclined Plane, Ascent Height, Pendulum Type, Rolling Friction Model

About the authors

T. B. Ivanova

V.A. Steklov Mathematical Institute RAS

Email: archive@rcd.ru
Russian Federation, Moscow, 119991

A. A. Kilin

V.A. Steklov Mathematical Institute RAS

Email: archive@rcd.ru
Russian Federation, Moscow, 119991

E. N. Pivovarova

V.A. Steklov Mathematical Institute RAS

Author for correspondence.
Email: archive@rcd.ru
Russian Federation, Moscow, 119991

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