Title :
Singular configuration avoidance of a snake-like robot with screw drive units
Author :
Gao, Yong ; Tanaka, Motoyasu ; Fukushima, Hiroaki ; Matsuno, Fumitoshi
Author_Institution :
Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Chofu
Abstract :
In this paper, we propose a control method for a snake-like robot with screw drive units, which aims to achieve singular configuration avoidance as well as tracking control of the head position and orientation. A cost function measuring nonsingularity is introduced, and a control input is chosen such that the cost function is increased by using redundant degrees of freedom. The effectiveness of the proposed control law is investigated by simulations and experiments using a 4-link snake-like robot with screw drive units.
Keywords :
mobile robots; tracking; control method; cost function; redundant degrees of freedom; screw drive units; singular configuration avoidance; snake-like robot; tracking control; Control systems; Cost function; Crawlers; Fasteners; Intelligent robots; Kinematics; Mechanical engineering; Mobile robots; Orbital robotics; Wheels; redundant system; screw drive mechanism; singular configuration avoidance; snake-like robot;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4655193
