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KIAM Preprint  65, Moscow, 2004
Authors: Golubev Y. F.
Motion Design for a Robot-Snakeborder
Abstract:
The problem on a motion design for a robot-snakeborder is investigated. The mechanical part of the robot includes a snakeboard and a flywheel, capable to perform the controllable motion relative to a crossbar of a snakeboard. The program laws of wheel axes control for improvement of prescribed traces of any point of a crossbar are developed. The angle acceleration of a flywheel control is designed for improvement of desirable regulation for a velocity of a crossbar centre of mass. The problem on maximum increment of velocity along the trace of the form of eight is solved.
Publication language: russian,  pages: 26
Research direction:
Theoretical and applied problems of mechanics
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About authors:
  • Golubev Yury Filippovich,  orcid.org/0000-0002-2450-0224KIAM RAS