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On the motion of a mobile robot with roller-carrying wheels. (English. Russian original) Zbl 1294.93060
J. Comput. Syst. Sci. Int. 46, No. 6, 976-983 (2007); translation from Izv. Ross. Akad. Nauk, Teor. Sist. Upravl. 2007, No. 6, 142-149. (2007).
Summary: The motion equations of a robot on a horizontal surface on three roller-carrying wheels of omni directional type are derived without account of possible slippage. An exact solution of the equations is found when at the direct-current motors moving the wheels a constant voltage is supplied. The problem of minimizing the torques of electric motors is considered and steady-state motion modes are specified for which the torques of electric motors and energy expenses are minimum. The reckoning system for the robot traveled distance is described.

93C85 Automated systems (robots, etc.) in control theory
68T40 Artificial intelligence for robotics
Full Text: DOI
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