Controllability and motion planning of a multibody Chaplygin's sphere and Chaplygin's top

This paper studies local configuration controllability of multibody systems with nonholonomic constraints. As a nontrivial example of the theory, we consider the dynamics and control of a multibody spherical robot. Internal rotors and sliders are used as the mechanisms for control. Our model is base...

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Veröffentlicht in:	International journal of robust and nonlinear control 2008-06, Vol.18 (9), p.905-945
Hauptverfasser:	Shen, Jinglai, Schneider, David A., Bloch, Anthony M.
Format:	Artikel
Sprache:	eng
Schlagworte:	controllability motion planning nonholonomic systems
Online-Zugang:	Volltext
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