A method for controlling the motion of a robot snakeboarder

The problem of planning the motions of a robot snakeboarder consisting of a snakeboard and a flywheel mounted on it and capable of performing controlled rotation relative to the snakeboard crossbar is investigated. Programmed control of the wheel axes to provide an assigned path of motion of an arbitrary point on the crossbar is described. A control of the angular acceleration of the flywheel on the snakeboard that ensures a required course of variation of the velocity of the crossbar centre both on a horizontal plane and on an inclined plane is constructed. The problem of the maximum acceleration of the snakeboard along a “figure-of-eight” trajectory is solved.