On the Control of a Robot Ball Using Two Omniwheels

    2015, Volume 20, Number 4, pp.  441-448

    Author(s): Ivanov A. P.

    We discuss the dynamics of a balanced body of spherical shape on a rough plane, controlled by the movement of a built-in shell. These two shells are set in relative motion due to rotation of the two symmetrical omniwheels. It is shown that the ball can be moved to any point on the plane along a straight or (in the case of the initial degeneration) polygonal line. Moreover, any prescribed curvilinear trajectory of the ball center can be followed by an appropriate control strategy as far as the diameter connecting both wheels is nonvertical.
    Keywords: robot ball, omniwheel, control
    Citation: Ivanov A. P., On the Control of a Robot Ball Using Two Omniwheels, Regular and Chaotic Dynamics, 2015, Volume 20, Number 4, pp. 441-448

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