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Author Georgy, Terekhov ♦ Vladimir, Pavlovsky
Source Directory of Open Access Journals (DOAJ)
Content type Text
Publisher EDP Sciences
File Format PDF
Date Created 2017-06-23
Copyright Year ©2017
Language English ♦ French
Subject Domain (in LCC) TA1-2040
Subject Keyword Engineering (General) ♦ Technology ♦ Civil engineering (General)
Abstract The theoretical mechanical model of the spherical robot with the flywheels located in a sphere is considered. The described design is intended for the motion control of a sphere on various trajectories. In the paper, control algorithms of a sphere on basic trajectories are investigated; the movements from rotation on the point and the movements on a straight line piece before the basic movements on curvilinear trajectories are considered. The paper describes dynamical models of a sphere robot, different models of friction, as well as a two-parametrical model as the main model of friction. Technical possibility of realization of a sphere robot with flywheels is proved.
ISSN 2261236X
Age Range 18 to 22 years ♦ above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 2017-01-01
e-ISSN 2261236X
Journal MATEC Web of Conferences
Volume Number 113
Starting Page 02007


Source: Directory of Open Access Journals (DOAJ)