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ICNPAA 2004: Mathematical Problems in Engineering and Aerospace Sciences
June 2-4, 2004
The West University of Timisoara
Timisoara, Romania

Organizers
Conference Organizer and Chair: Seenith Sivasundaram

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On a nonlinear boundary task related to the control of a robot
by
Simeon Panev
UCTM , bd. "Kliment Ohridski", N 8, Sofia 1756, Bulgaria
Coauthors: Roumiana Phileva

We consider the omnimobile robot ROLLMOBS consisting of one triangular platform suspended on three spheres situated on its vertices. Each sphere is set in motion by a wheel equipped with simple rollers(universal wheel). The combination of driving function of the wheel and free rotation of the rollers procures omnimobility of the robot. The robot control at fixed trajectory should assure minimal driving torques and non-slipping rolling in the wheel /sphere and sphere/ ground contacts for a minimum displacement time. The heavy key problem is a boundary task for a differential nonlinear equation four times power, giving the optimal control of the robot. In order to resolve this problem it is used a Green’s function and the method of successive approaches.

Date received: March 24, 2004

Copyright © 2004 by the author(s). The author(s) of this document and the organizers of the conference have granted their consent to include this abstract in Atlas Conferences Inc. Document # canw-20.