The position-trajectory control of highly maneuverable tracked robots

This paper is devoted to the synthesis of a highly maneuverable tracked robot (HMTR) control by the position-trajectory control method. The control system allows to control movements of HMTR along a path defined by curves of first, second and third orders, and in a target pointing in a phase space either with demands to the trajectory of such movement, or without them, making it possible to extend a functionality of HMTR.