Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation
Simultaneous Control of Two Points for Snake Robot and Its Application to Transportation
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DOI：
10.1109/lra.2019.2947003
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发表时间：
2020-01-01
影响因子：
5.2
通讯作者：
Tanaka, Kazuo
中科院分区：
文献类型：
--
作者：
Nakajima, Mizuki;Tanaka, Motoyasu;Tanaka, Kazuo
提出了一种蛇形机器人两点同时轨迹跟踪控制方法。考虑两个调节点的运动学模型被确定为通过抬起几个轮子来切换的切换系统。由于车轮的提升，系统成为一个运动冗余系统，但它必须防止两种奇异构形，一种是传统的奇异构形，另一种是通过同时调节两个点引起的奇异构形。利用这种冗余度，选择提升的车轮，设计了两点轨迹跟踪控制器，防止了这两种奇异构型。通过跟踪实验和实际应用，证明了所提控制方法的有效性，即通过笼式操纵运送物体和手推车的转向。
This letter presents a simultaneous trajectory tracking control method for two points of a snake robot. The kinematic model considering two regulated points is determined as a switched system that is switched by lifting a few wheels. The system becomes a kinematically redundant system by the lifting of the wheels; however, it has to prevent two types of singular configurations; one is the traditional one, and the other is caused by regulating two points simultaneously. Using this redundancy and selecting the lifted wheels, we design a trajectory tracking controller for two points by preventing the two types of singular configurations. The effectiveness of the proposed control method was demonstrated by tracking experiments as well as applications, namely, the transportation of an object by caging manipulation and the steering of a handcart.