Modeling and Control of a Snake-Like Robot Using the Screw-Drive Mechanism
Modeling and Control of a Snake-Like Robot Using the Screw-Drive Mechanism
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DOI：
10.1109/tro.2012.2183050
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发表时间：
2012-06-01
影响因子：
7.8
通讯作者：
Matsuno, Fumitoshi
中科院分区：
文献类型：
--
作者：
Fukushima, Hiroaki;Satomura, Shogo;Matsuno, Fumitoshi
在本文中，我们开发了一种新型蛇形机器人，采用主动关节连接的螺旋传动单元。螺旋驱动装置使机器人能够在与环境接触的身体的任何一侧产生推进力。该机器人的另一个特点是通过螺钉角速度的组合实现全方位移动。我们还推导了运动学模型，并将其应用于轨迹跟踪控制。此外，我们还设计了一个适用于人工操作的前端跟随控制器。在这个控制系统中，操作员只需要指挥前面的一个单元；然后，自动计算其余单元的命令，以跟踪前面单元的路径。在常曲率情况下，基于李雅普诺夫方法分析了前单元跟踪控制器跟踪误差的渐近收敛性。通过数值算例和实验验证了该控制方法的有效性。
In this paper, we develop a new type of snake-like robot using screw-drive units that are connected by active joints. The screw-drive units enable the robot to generate propulsion on any side of the body in contact with environments. Another feature of this robot is the omnidirectional mobility by combinations of screws' angular velocities. We also derive a kinematic model and apply it to trajectory tracking control. Furthermore, we design a front-unit-following controller, which is suitable for manual operations. In this control system, operators are required to command only one unit in the front; then, commands for the rest of the units are automatically calculated to track the path of the preceding units. Asymptotic convergence of the tracking error of the front-unit-following controller is analyzed based on a Lyapunov approach for the case of constant curvature. The effectiveness of the control method is demonstrated by numerical examples and experiments.