Analysis and heading control of continuum planar snake robot based on kinematics and a general solution thereof
Analysis and heading control of continuum planar snake robot based on kinematics and a general solution thereof
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DOI：
10.1080/01691864.2015.1118409
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发表时间：
2016-01
影响因子：
2
通讯作者：
Ryo Ariizumi;Motoyasu Tanaka;F. Matsuno
中科院分区：
文献类型：
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作者：
Ryo Ariizumi;Motoyasu Tanaka;F. Matsuno
提出了一种不可扩展连续体平面蛇形机器人的运动学计算与控制方法。假设蛇形机器人移动时没有侧滑；这一约束条件便于建立机器人的运动学模型，并据此对机器人的运动进行分析。运动学模型用半线性偏微分方程（PDE）表示。讨论了偏微分方程的通解及其计算方法。然而，这种约束也带来了姿态奇异的问题。研究了具有串行链路结构的蛇形机器人的奇异性问题；然而，对于连续体蛇形机器人的研究却少之又少。在本文中，我们提出了一种控制运动方向同时避免奇点的方法。通过仿真和实验验证了该方法的有效性。图形抽象
This paper presents a kinematic calculation and control method for an inextensible continuum planar snake robot. The snake robot is assumed to move without side slipping; this constraint makes it easy to construct its kinematic model based on which we can analyze the movement of the robot. The kinematic model is expressed as a semi-linear partial differential equation (PDE). We discuss the general solution of the PDE and a calculation method based on it. However, the constraint also raises the problem of singular posture. The problem of singularities has been addressed for a snake robot with a serial link structure; however, for a continuum snake robot, much less research has been carried out. In this paper, we propose a method for controlling the direction of movement while avoiding singularities. The validity of our method is tested through simulations and experiments. Graphical Abstract