Research of dynamics of movement of a chain of “Robotrain”. Methods of planning of movement

The possibility of transition of the leading carriage of the given system from one point of Cartesian, configuration and phase space to other point is investigated. The algorithm of planning of movement between two points by means of arches of two various spirals is received. Two methods of planning of movement depending on a method of the setting of a trajectory are constructed — the “corridor method” and the method of referring points.