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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.

##### MSC:
 93C85 Automated systems (robots, etc.) in control theory 68T40 Artificial intelligence for robotics
##### Keywords:
motion of a mobile robot; roller-carrying wheels
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##### References:
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