Enviar artigo por via de e-mail Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane
- Autores: Ivanova T.B.1,2, Kilin A.A.1,3, Pivovarova E.N.1,2
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Afiliações:
- Udmurt State University
- Blagonravov Mechanical Engineering Research Institute, Russian Academy of Sciences
- Moscow Institute of Physics and Technology (State University)
- Edição: Volume 63, Nº 7 (2018)
- Páginas: 302-306
- Seção: Mechanics
- URL: https://journals.rcsi.science/1028-3358/article/view/192383
- DOI: https://doi.org/10.1134/S1028335818070091
- ID: 192383
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Resumo
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.
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Sobre autores
T. Ivanova
Udmurt State University; Blagonravov Mechanical Engineering Research Institute, Russian Academy of Sciences
Autor responsável pela correspondência
Email: tbesp@rcd.ru
Rússia, ul. Universitetskaya 1,
Izhevsk, 426034; ul. Bardina 4, Moscow,
117334
A. Kilin
Udmurt State University; Moscow Institute of Physics and Technology (State University)
Autor responsável pela correspondência
Email: aka@rcd.ru
Rússia, ul. Universitetskaya 1,
Izhevsk, 426034; Institutskii per. 9, Dolgoprudnyi, Moscow region, 141701
E. Pivovarova
Udmurt State University; Blagonravov Mechanical Engineering Research Institute, Russian Academy of Sciences
Autor responsável pela correspondência
Email: archive@rcd.ru
Rússia, ul. Universitetskaya 1,
Izhevsk, 426034; ul. Bardina 4, Moscow,
117334
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