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

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 inclin...

Full description

Saved in:
Bibliographic Details
Published in:Doklady. a journal of the Russian Academy of Sciences. Physics 2018-07, Vol.63 (7), p.302-306
Main Authors: Ivanova, T. B., Kilin, A. A., Pivovarova, E. N.
Format: Article
Language:English
Subjects:
Classical Mechanics
Inclination angle
Mathematical and Computational Physics
Mechanics
Motion stability
Physics
Physics and Astronomy
Robot dynamics
Robots
Stability analysis
Theoretical
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISSN:1028-3358
1562-6903
DOI:10.1134/S1028335818070091