Redundant Control of a Planar Snake Robot with Prismatic Joints
Redundant Control of a Planar Snake Robot with Prismatic Joints
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DOI：
10.1007/s12555-020-0607-2
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发表时间：
2021-07-27
影响因子：
3.2
通讯作者：
Ariizumi, Ryo
中科院分区：
文献类型：
--
作者：
Tanaka, Motoyasu;Sawabe, Hidemasa;Ariizumi, Ryo
提出了一种具有移动关节的平面蛇形机器人的控制方法。建立了考虑被动车轮速度约束的运动学模型。提出的基于该模型的控制方法允许机器人通过使用移动关节适当改变其连杆长度来跟踪目标轨迹。该模型将移动关节的自由度表示为运动冗余度，并用于实现避免奇点和避障等子任务。此外，在运动学模型中引入s型函数时，连杆长度低于其极限。仿真结果证明了该方法的有效性，并展示了一种通过改变链路长度来避免奇异构型的新运动。
This paper presents a control method of a planar snake robot with prismatic joints. The kinematic model is derived considering velocity constraints caused by passive wheels. The proposed control method based on the model allows the robot to track a target trajectory by appropriately changing its link length using prismatic joints. The degrees of freedom of prismatic joints are represented as kinematic redundancy in the model and are used in realizing subtasks such as singularity avoidance and obstacle avoidance. In addition, the link length is below its limit when introducing a sigmoid function into the kinematic model. Simulations are carried out to demonstrate the effectiveness of the proposed method and show a novel motion that avoids singular configurations through changes in link lengths.