Doctor of Physical and Mathematical Sciences, Keldysh Institute of Applied Mathematics, Leading Research
Lomonosov Moscow State University, Postgraduate Student, 1, Leninskie Gory, GSP-1, Moscow, 119991, Russia,
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.
Two-wheeled robot, spherical wheels, mathematical model.
Year 2015 Issue number 2 Consecutive issue number 7 Pages 34-38
UDC identifier: 531.1