DocumentCode
154348
Title
Experimental verification of transversal functions for trident snake robot
Author
Cholewinski, Mateusz ; Magiera, Wladyslaw ; Mazur, Alicja
Author_Institution
Electron. Fac., Dept. of Cybern. & Robot., Wroclaw Univ. of Technol., Wrocław, Poland
fYear
2014
fDate
2-5 Sept. 2014
Firstpage
300
Lastpage
305
Abstract
In the paper control problem of trident snake robot using transversal functions approach has been considered. First, control law based on concept of transversal periodic functions has been introduced. Next, some experiment has been conducted. For experimental part special testbed, including: robotic device - trident snake robot, control system and camera, has been prepared. Experiment has confirmed limited practical application of control based on transversal functions.
Keywords
cameras; mobile robots; periodic control; robot vision; trajectory control; camera; control law; control problem; control system; experimental verification; robotic device; transversal periodic functions; trident snake robot; Collision avoidance; Manipulators; Mobile robots; Robot kinematics; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On
Conference_Location
Miedzyzdroje
Print_ISBN
978-1-4799-5082-9
Type
conf
DOI
10.1109/MMAR.2014.6957368
Filename
6957368
Link To Document