Development of Mathematical Model of the Control System of Links of the Snake Like Robot

Abstract

The mathematical model of a modular control system of links of the snake like robot for realization of the wave movement considering the moments of the external forces created by adjacent links and external indignations is given in work. As model of the electric drive of a direct current the differential equation of the second order connecting tension of u(t) given on the electric motor, the moment of loading of Mn (t) and an output angle of rotation of a shaft θ(t) is used. Transfer functions of separate links are calculated, and transfer function of a control system in general is received.