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Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane

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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.

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Authors and Affiliations

  1. Udmurt State University, ul. Universitetskaya 1, 426034, Izhevsk, Russia

    T. B. Ivanova, A. A. Kilin & E. N. Pivovarova

  2. Blagonravov Mechanical Engineering Research Institute, Russian Academy of Sciences, ul. Bardina 4, 117334, Moscow, Russia

    T. B. Ivanova & E. N. Pivovarova

  3. Moscow Institute of Physics and Technology (State University), Institutskii per. 9, 141701, Dolgoprudnyi, Moscow region, Russia

    A. A. Kilin

Authors
  1. T. B. Ivanova
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  2. A. A. Kilin
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  3. E. N. Pivovarova
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Corresponding authors

Correspondence to T. B. Ivanova, A. A. Kilin or E. N. Pivovarova.

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1The article was translated by the authors.

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Ivanova, T.B., Kilin, A.A. & Pivovarova, E.N. Controlled Motion of a Spherical Robot of Pendulum Type on an Inclined Plane. Dokl. Phys. 63, 302–306 (2018). https://doi.org/10.1134/S1028335818070091

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  • DOI: https://doi.org/10.1134/S1028335818070091

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