Trajectory Tracking Control of Snake Robots Based on Dynamic Model
Trajectory Tracking Control of Snake Robots Based on Dynamic Model
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DOI：
10.1109/robot.2005.1570575
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发表时间：
2005-04
期刊：
影响因子：
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通讯作者：
F. Matsuno;Hiroki Sato
中科院分区：
文献类型：
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作者：
F. Matsuno;Hiroki Sato
本文推导了具有被动轮和主动关节的蛇形机器人的动力学模型和轨迹跟踪控制律。对于蛇形机器人的轨迹跟踪控制来说，避免直线等奇异构型是重要问题之一。利用基于动力学模型的输入输出线性化蛇形机器人的头部位置，我们可以通过PD反馈来控制头部位置，但机器人将收敛到奇异配置。为了解决这个问题，我们提出了一种控制形状可控点的控制律，以避免奇异配置。使用所提出的控制律，机器人可以完成头部位置的轨迹跟踪，而无需收敛到奇异配置。仿真结果表明了所提出的控制律的有效性。
In this paper, we derive a dynamic model and a trajectory tracking control law for snake robots, which have passive wheels and active joints, based on the dynamic model. For a trajectory tracking control of snake robots, it is one of the important problem to avoid the singular configuration like a straight line. Using input-ouput linearization for the head position of snake robots based on dynamic model, we can control the head position by PD feedback, but the robot will converge to the singular configuration. In order to solve this problem, we propose a control law that controls shape controllable points for avoiding the singular configuration. Using the proposed control law, the robot can accomplish trajectory tracking of the head position without converging to the singular configuration. Simulation results show the effectiveness of the proposed control law.