Research of Dynamics of Movement of a Chain of 'Robotrain'. Controlled Movement
Abstract:
The basic program movements of system (a straight line, a circle, a spiral) are constructed. The problem of definition of the torques, which are necessary for applying to wheels of the leading carriage for fulfillment of the set program movement is solved. The accuracy estimation of deviation of a trajectory of a tail part of system from a trajectory of movement of the carrying on leading is given.
Keywords:
a chain of mobile robots, the program movements, controlled movement
