Title :
Control of redundant snake robot based on kinematic model
Author :
Matsuno, Fumitoshi ; Suenaga, Kentaro
Author_Institution :
Dept. of Computational Intelligence & Syst. Sci., Tokyo Inst. of Technol., Japan
Abstract :
We define the redundancy controllable system of hyper-redundant systems. We derive the condition that the hyper-redundant snake robots become redundancy controllable, and the control law considering the redundancy. We propose the control strategy for the singular configuration avoidance and the obstacle avoidance of the snake robots. Simulation results are shown.
Keywords :
collision avoidance; mobile robots; motion control; redundancy; robot kinematics; hyper redundant systems; kinematic model; mobile robots; obstacle avoidance; redundancy controllable system; redundant snake robot; singular configuration avoidance; Computational intelligence; Control system analysis; Control system synthesis; Control systems; Controllability; Feedback control; Kinematics; Lyapunov method; Mobile robots; Shape control;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1196525
