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<p><i>We study the implementation of servo-constraints in nonholonomic systems. The basic principles for constructing equations of motion for mechanical systems with both nonholonomic and servo-constraints are presented. We develop servo-control strategies for the rolling of a spherical robot with a pendulum actuator and a symmetric sphere rolling over the outer surface of the spherical robot with the pendulum actuator. To control the spherical robot, the pendulum actuator generates the necessary control torque. Bibliography: 16 titles. Illustrations: 3 figures.</i></p>

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IMPLEMENTATION OF SERVO-CONSTRAINTS IN PROBLEM OF CONTROLLING SPHERICAL ROBOT WITH PENDULUM ACTUATOR

  • 期刊论文

  • 发表日期：

    2025年10月1日

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  • E. A. Mikishanina

摘要

We study the implementation of servo-constraints in nonholonomic systems. The basic principles for constructing equations of motion for mechanical systems with both nonholonomic and servo-constraints are presented. We develop servo-control strategies for the rolling of a spherical robot with a pendulum actuator and a symmetric sphere rolling over the outer surface of the spherical robot with the pendulum actuator. To control the spherical robot, the pendulum actuator generates the necessary control torque. Bibliography: 16 titles. Illustrations: 3 figures.