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 |
| _version_ | 1797657221770772480 |
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| author | Navid Negahbani Mostafa Ghayour |
| author_facet | Navid Negahbani Mostafa Ghayour |
| author_sort | Navid Negahbani |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-11T17:41:21Z |
| format | Article |
| id | doaj.art-f0739a501757456d87f28bd0d5bd805f |
| institution | Directory Open Access Journal |
| issn | 2252-0406 2383-4447 |
| language | English |
| last_indexed | 2024-03-11T17:41:21Z |
| publishDate | 2009-03-01 |
| publisher | Islamic Azad University-Isfahan (Khorasgan) Branch |
| record_format | Article |
| series | International Journal of Advanced Design and Manufacturing Technology |
| spelling | doaj.art-f0739a501757456d87f28bd0d5bd805f2023-10-18T10:02:39ZengIslamic Azad University-Isfahan (Khorasgan) BranchInternational Journal of Advanced Design and Manufacturing Technology2252-04062383-44472009-03-0122534689Dynamic Analysis and Path Control of a Snake Like RobotNavid NegahbaniMostafa GhayourIn 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.https://admt.isfahan.iau.ir/article_534689_945bc837df5b08a6b2a7bb0553fa6e34.pdf |
| spellingShingle | Navid Negahbani Mostafa Ghayour Dynamic Analysis and Path Control of a Snake Like Robot International Journal of Advanced Design and Manufacturing Technology |
| title | Dynamic Analysis and Path Control of a Snake Like Robot |
| title_full | Dynamic Analysis and Path Control of a Snake Like Robot |
| title_fullStr | Dynamic Analysis and Path Control of a Snake Like Robot |
| title_full_unstemmed | Dynamic Analysis and Path Control of a Snake Like Robot |
| title_short | Dynamic Analysis and Path Control of a Snake Like Robot |
| title_sort | dynamic analysis and path control of a snake like robot |
| url | https://admt.isfahan.iau.ir/article_534689_945bc837df5b08a6b2a7bb0553fa6e34.pdf |
| work_keys_str_mv | AT navidnegahbani dynamicanalysisandpathcontrolofasnakelikerobot AT mostafaghayour dynamicanalysisandpathcontrolofasnakelikerobot |