Control of the spherical robot by means of fly-wheels
Abstract:
The theoretical mechanical model of the spherical robot with the fly-wheels located in a sphere is considered. The described design intends for motion control of a sphere on various trajectories. In work 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. Dynamical models of a sphere robot, di_erent models of friction are considered, as the main model of friction the two-parametrical model is considered. In work technical capability of realization of a sphere robot
with fly-wheels is proved.
Keywords:
the spherical robot, dynamic models, two-parametrical model of friction, control algorithm of a sphere by means a flywheels
