MODEL OF MOBILE ROBOT ON TWO SPHERICAL WHEELS

MODEL OF MOBILE ROBOT ON TWO SPHERICAL WHEELS

V.E. Pavlovsky
Doctor of Physical and Mathematical Sciences, Keldysh Institute of Applied Mathematics, Leading Research
Scientist, Professor, 4, Miusskaya pl., Moscow, 125047, Russia, tel.: +7(495)250-79-27, This email address is being protected from spambots. You need JavaScript enabled to view it. 

A.M. Tolkachev
Lomonosov Moscow State University, Postgraduate Student, 1, Leninskie Gory, GSP-1, Moscow, 119991, Russia,
tel.: +7(495)939-12-44, This email address is being protected from spambots. You need JavaScript enabled to view it. 


Abstract
The work deals with theoretical-mechanical model of the two-wheeled mobile robot on spherical wheels. A main objective of work – research of dynamics and synthesis of laws of motion control of the device on linear trajectories, and synthesis of the movement in the local vicinity with stabilization of the vertical unstable pendulum established on a device platform. The model with a pendulum is approximate model of the device with the person who is (standing) on the device.

Key words
Two-wheeled robot, spherical wheels, mathematical model.

Year 2015 Issue number 2 Consecutive issue number 7 Pages 34-38
UDC identifier: 531.1

 

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