On steady motions of the one-wheeled robot with asymmetrically disposed flywheel
Kapustina O.M., Martynenko Y.G.
"Математика. Компьютер. Образование". Cб. трудов XVII международной конференции. Под общей редакцией Г.Ю. Ризниченко Ижевск: Научно-издательский центр "Регулярная и хаотическая динамика", 2010 (in press). (accepted)
Robot-gyrostat is modeled by a heavy disk with a balanced rotating flywheel. The disk and the flywheel dynamic symmetry axles make a constant any size angle β with each other. The steady motions of the robot are obtained and their stability conditions are investigated. The study is implemented using a package Mathematica 7 and illustrated by computer animations, graphics, parameterized by the angular momentum of the flywheel, the initial conditions of the motion and the angle β.
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