Dynamic Analysis and Path Control of a Snake Like Robot
In this paper a modular wheel less snake-like robot by considering viscous friction is modeled. The motion equations of the robot are derived. Then by imitating a real snake motion, the robot is controlled on the way that tracks the predefined trajectory. The controller controls the center of mass a...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Islamic Azad University-Isfahan (Khorasgan) Branch
2009-03-01
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| Series: | International Journal of Advanced Design and Manufacturing Technology |
| Online Access: | https://admt.isfahan.iau.ir/article_534689_945bc837df5b08a6b2a7bb0553fa6e34.pdf |
| Summary: | In this paper a modular wheel less snake-like robot by considering viscous friction is modeled. The motion equations of the robot are derived. Then by imitating a real snake motion, the robot is controlled on the way that tracks the predefined trajectory. The controller controls the center of mass and global orientation. The motion of the robot is simulated for tracking a line and a sine curve. It is shown that the robot tracks the trajectories smoothly. |
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| ISSN: | 2252-0406 2383-4447 |