Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints
Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints
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DOI：
10.1109/tmech.2014.2367657
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发表时间：
2015-08
期刊：
影响因子：
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通讯作者：
Motoyasu Tanaka;Kazuo Tanaka;F. Matsuno
中科院分区：
文献类型：
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作者：
Motoyasu Tanaka;Kazuo Tanaka;F. Matsuno
提出了一种蛇形机器人各关节的近似路径跟踪控制方法，并通过沿着仿真和实验对该方法进行了验证。我们考虑一个轮式蛇机器人，被动轮和主动关节。机器人可以通过抬起身体的所需部分来切换接触地面的车轮。如果某些轮子被抬起，机器人的模型变成运动学冗余系统。利用这种运动冗余度，并选择合适的提升部件，我们设计了一个控制器的近似路径跟踪。仿真和实验结果表明，所提出的控制器有效地降低了机器人各关节的路径跟踪误差。
This paper presents an approximate path-tracking control method for all joints of a snake robot, along with the verification of this method by simulations and experiments. We consider a wheeled snake robot that has passive wheels and active joints. The robot can switch the wheels that touch the ground by lifting the required parts of its body. The model of the robot becomes a kinematically redundant system if certain wheels are lifted. Using this kinematic redundancy, and selecting the appropriate lifted parts, we design a controller for approximate path tracking. Simulations and experimental results show that the proposed controller effectively reduces the path-tracking error for all joints of the snake robot.