Development of a control system in REPEAT to implement S-shaped movement of a robotic snake
Abstract
Development of a control system in REPEAT to implement S-shaped movement of a robotic snake
Incoming article date: 17.07.2025The article considers a robotic control system for implementing the S-shaped movement of a snake robot, and evaluates the specifics of its use on a physical prototype. Since the snake robot is a complex composite structure, the assessment and assignment of a certain type of movement becomes one of the primary tasks in the development of this control system. The simulation model of the snake robot is implemented using mathematical modeling in the Russian software REPEAT. As a result of the simulation, it was found that the developed control system ensures the operability of the robotic system, ensures the accuracy of movement and adaptability to changing external conditions.
Keywords: mathematical modeling, simulation model, REPEAT, snake robot, wave motion control system, torque variation