期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2017
卷号：11
期号：2
页码：75
DOI：10.14313/JAMRIS_2-2017/19
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：To apply a spinning hemisphere as a mobile robot driveis an unconvenonal idea. Equipping a mobile robot withtwo such hemispheres brings to life a device with absolutelynovel properes. In this paper we derive kinemacsmodels of a mobile robot with two driving hemispheres,analyse shortly their properes, and adopt a control algorithmdesigned to follow a path. There are two kinemacs models presented: the full model of the originalsystem, and the model of the simplified system, equivalentto the original one. The second model is expressedin two different coordinate systems – the later allowingfor the applicaon of known control algorithms to drivethe robot. The performance of the analysed algorithm isillustrated by computer simulaons.
关键词：Hemispherical Omnidireconal Gimbaled;wheel; hemispheres; mobile robot; path following
