Petr Makhmudov, V. Samsonov, M. Dosaev, L. Klimina, Y. Vershinin
{"title":"Planning a motion of a wheeled robot controlled by a motion of internal mass","authors":"Petr Makhmudov, V. Samsonov, M. Dosaev, L. Klimina, Y. Vershinin","doi":"10.1109/STAB49150.2020.9140463","DOIUrl":null,"url":null,"abstract":"The flat motion of a trolley rolling along a horizontal absolutely rough plane is considered. A guide is mounted on the trolley parallel to the line connecting the centers of mass of wheels. A slider moves along this guide. Slider motion control is carried out by setting its relative acceleration. An algorithm is proposed for the cyclic relative slider motion, leading to nonzero displacement of the trolley.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/STAB49150.2020.9140463","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
The flat motion of a trolley rolling along a horizontal absolutely rough plane is considered. A guide is mounted on the trolley parallel to the line connecting the centers of mass of wheels. A slider moves along this guide. Slider motion control is carried out by setting its relative acceleration. An algorithm is proposed for the cyclic relative slider motion, leading to nonzero displacement of the trolley.
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