Dynamics Modeling and Trajectory Tracking of Snakeboard Robot

This paper considers the modeling and control of a commercially available variant of the skateboard, known as snakeboard. For this purpose, a mechanism is designed in order to model the body of a human on the snakeboard, its movements on the board and the effect of each part on the neighbouring parts. For the designed mechanism, the generalized coordinates are assigned and the equations of motion are derived with respect to assigned set of generalized coordinates by means of Lagrange's method. Analysis and simulations are performed for this set of equations. Indeed, a model of the board has been made and experimented in order to verify the results of dynamics simulation. In the final step, using sliding mode control method, controllability analysis is performed. Using the sliding mode controller the results of trajectory tracking along of a straight line is investigated to determine the performance of the proposed controller.

کلیدواژه ها:

Snakeboard ، Dynamics Simulation ، Sliding Mode Control