Title :
Modeling and Control of a Snake-Like Robot Using the Screw-Drive Mechanism
Author :
Fukushima, Hiroaki ; Satomura, Shogo ; Kawai, Toru ; Tanaka, Motoyasu ; Kamegawa, Tetsushi ; Matsuno, Fumitoshi
Author_Institution :
Dept. of Mech. Eng. & Sci., Kyoto Univ., Kyoto, Japan
fDate :
6/1/2012 12:00:00 AM
Abstract :
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.
Keywords :
Lyapunov methods; mobile robots; robot kinematics; trajectory control; Lyapunov approach; active joints; constant curvature; front unit following controller; kinematic model; omnidirectional mobility; screw drive mechanism; screw drive units; screws angular velocities; snake like robot control; trajectory tracking control; DC motors; Fasteners; Joints; Mobile robots; Robot kinematics; Wheels; Path tracking; screw-drive mechanism; search and rescue; snake-like robot;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2012.2183050