№4 (55), 2020. ROBOTS, MECHATRONICS AND ROBOTIC SYSTEMS

L.Yu. Vorochaeva, S.I. Savin

Investigation of the issue of holding a multi-module crawling robot in a given position with varying parameters of the external force

The questions of holding a three-module crawling robot in a given position on a horizontal surface while fixing one extreme support of the device on it are considered. The external force is a harmonic force that changes according to the meander law. The effect of phase mismatch between the vertical and horizontal components of the external force amplitude on the character of the robot’s vibrations and the shift of its equilibrium position relative to a given position in two types of controllers: LQR and CTC is studied.

Keywords: multi-module crawling robot, hold, balance position, meander, external force, phase mismatch.

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