A Nonholonomic Model and Complete Controllability of a Three-Link Wheeled Snake Robot
Received 15 September 2022; accepted 16 November 2022; published 14 December 2022
2022, Vol. 18, no. 4, pp. 681-707
Author(s): Artemova E. M., Kilin A. A.
This paper is concerned with the controlled motion of a three-link wheeled snake robot
propelled by changing the angles between the central and lateral links. The limits on the applicability
of the nonholonomic model for the problem of interest are revealed. It is shown that
the system under consideration is completely controllable according to the Rashevsky – Chow
theorem. Possible types of motion of the system under periodic snake-like controls are presented
using Fourier expansions. The relation of the form of the trajectory in the space of controls to
the type of motion involved is found. It is shown that, if the trajectory in the space of controls is
centrally symmetric, the robot moves with nonzero constant average velocity in some direction.
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