Advertisement

Regular and Chaotic Dynamics

, Volume 19, Issue 1, pp 140–143 | Cite as

Comments on the paper by A. V. Borisov, A. A. Kilin, I. S. Mamaev “How to control the Chaplygin ball using rotors. II”

  • Tatiana B. Ivanova
  • Elena N. Pivovarova
Article

Abstract

In this paper we consider the control of a dynamically asymmetric balanced ball on a plane in the case of slipping at the contact point. Necessary conditions under which a control is possible are obtained. Specific algorithms of control along a given trajectory are constructed.

Keywords

control dry friction Chaplygin’s ball spherical robot 

MSC2010 numbers

70F40 70E18 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Alves, J. and Dias, J., Design and Control of a Spherical Mobile Robot, Journal of Systems and Control Engineering, 2003, vol. 217, pp. 457–467.Google Scholar
  2. 2.
    Borisov, A. V., Kilin, A.A., and Mamaev, I. S., How to Control Chaplygin’s Sphere Using Rotors, Regul. Chaotic Dyn., 2012, vol. 17, nos. 3–4, pp. 258–272.CrossRefzbMATHMathSciNetGoogle Scholar
  3. 3.
    Borisov, A. V., Kilin, A.A., and Mamaev, I. S., How to Control Chaplygin’s Sphere Using Rotors. II, Regul. Chaotic Dyn., 2013, vol. 18, nos. 1–2, pp. 144–158.CrossRefzbMATHMathSciNetGoogle Scholar
  4. 4.
    Camicia, C., Conticelli, F., and Bicchi, A., Nonholonimic Kinematics and Dynamics of the Sphericle, in Proc. of the 2000 IEEE/RSJ Internat. Conf. on Intelligent Robots and Systems, 2000, pp. 805–810.Google Scholar
  5. 5.
    Joshi, V. A. and Banavar, R.N., Motion Analysis of a Spherical Mobile Robot, Robotica, 2009, vol. 27, no. 3, pp. 343–353.CrossRefGoogle Scholar
  6. 6.
    Joshi, V.A., Banavar, R.N., and Hippalgaonkar, R., Design and Analysis of a Spherical Mobile Robot, Mech. Mach. Theory, 2010, vol. 45, pp. 130–136.CrossRefzbMATHGoogle Scholar
  7. 7.
    Koshiyama, A. and Yamafuji, K., Design and Control of an All-direction Steering Type Mobile Robot, Int. J. Robot. Res., 1993, vol. 12, no. 5, pp. 411–419.CrossRefGoogle Scholar
  8. 8.
    Sang, S., Zhao, J., Wu, H., Chen, S., and An, Q., Modeling and Simulation of a Spherical Mobile Robot, Computer Science and Information Systems, 2010, vol. 7, no. 1, pp. 51–62.CrossRefGoogle Scholar
  9. 9.
    Svinin, M., Morinaga, A., and Yamamoto, M., On the Dynamic Model and Motion Planning for a Spherical Rolling Robot Actuated by Orthogonal Internal Rotors, Regul. Chaotic Dyn., 2013, vol. 18, nos. 1–2, pp. 126–143.CrossRefzbMATHMathSciNetGoogle Scholar
  10. 10.
    Tomik, F., Nudehi, S., Flynn, L. L., and Mukherjee, R., Design, Fabrication and Control of Spherobot: A Spherical Mobile Robot, J. Intell. Robot. Syst., 2012, vol. 67, no. 2, pp. 117–131.CrossRefGoogle Scholar

Copyright information

© Pleiades Publishing, Ltd. 2014

Authors and Affiliations

  1. 1.Udmurt State UniversityIzhevskRussia

Personalised recommendations