{"title":"Algorithm for Controlling a Spherical Robot with a Pendulum Actuator in the Problem of Pursuing and Hitting a Moving Target","authors":"E. A. Mikishanina","doi":"10.3103/s1068798x2470076x","DOIUrl":null,"url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>An algorithm is developed to control a spherical robot with a pendulum actuator through servo constraints, generating the necessary control torque. Servo constraints set a motion program that allows the robot to pursue a moving target until it is hit. The rectilinear and curvilinear trajectories of the robot constructed on the basis of numerical integration are considered. Their length and time to hit the target are determined.</p>","PeriodicalId":35875,"journal":{"name":"Russian Engineering Research","volume":"44 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2024-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Russian Engineering Research","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3103/s1068798x2470076x","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Engineering","Score":null,"Total":0}
引用次数: 0
Abstract
An algorithm is developed to control a spherical robot with a pendulum actuator through servo constraints, generating the necessary control torque. Servo constraints set a motion program that allows the robot to pursue a moving target until it is hit. The rectilinear and curvilinear trajectories of the robot constructed on the basis of numerical integration are considered. Their length and time to hit the target are determined.
期刊介绍：
Russian Engineering Research is a journal that publishes articles on mechanical and production engineering. The journal covers the development of different branches of mechanical engineering, new technologies, and tools for machine and materials design. Emphasis is on operations research and production-line layout, industrial robots and manipulators, quality control and process engineering, kinematic analysis of machine assemblies, and computerized integrated manufacturing systems.
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