Title :
Motion analysis of snake robot segment
Author :
Virgala, I. ; Kelemen, M. ; Prada, E. ; Surovec, R.
Author_Institution :
Dept. of Appl. Mech. & Mechatron., Tech. Univ. of Kosice, Kosice, Slovakia
Abstract :
The paper deals with rectilinear motion of snake robot. In the paper the dynamic model of snake robot rectilinear motion is derived and subsequently analyzed. Besides the mathematical model the simulation model in Matlab / SimMechanics is done. Both mathematical and simulation model are compared in order to shown differences concerning to displacement of snake robot segment. The differences occur because of different friction description between snake robot and surface on which it moves. In the conclusion the results of analysis are discussed.
Keywords :
mathematics computing; mobile robots; robot dynamics; simulation; Matlab-SimMechanics; dynamic model; mathematical model; motion analysis; simulation model; snake robot rectilinear motion; snake robot segment; snake robot-surface friction description; Analytical models; Force; Friction; Mathematical model; Mechanical systems; Numerical models; Robots;
Conference_Titel :
Applied Machine Intelligence and Informatics (SAMI), 2013 IEEE 11th International Symposium on
Conference_Location :
Herl´any
Print_ISBN :
978-1-4673-5928-3
Electronic_ISBN :
978-1-4673-5927-6
DOI :
10.1109/SAMI.2013.6480963
