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Adaptive trajectory control of an under-actuated snake robot

文献类型：期刊论文

作者Qin, Guodong1,3; Wu, Huapeng1; Cheng, Yong2; Pan, Hongtao2; Zhao, Wenlong2; Shi, Shanshuang2; Song, Yuntao2; Ji, Aihong3
刊名APPLIED MATHEMATICAL MODELLING
出版日期2022-06-01
卷号106
ISSN号0307-904X
关键词Snake robot Underactuated Adaptive trajectory control Tractrix
DOI10.1016/j.apm.2022.02.001
通讯作者Ji, Aihong(meeahji@nuaa.edu.cn)
英文摘要This article proposes an adaptive trajectory control method for under-actuated snake robots by simplifying the control and actuation systems of hyper-redundant robots. The under-actuated joints are formed by controlling the spatial rotation angles of multiple rigid joints in the joint group in order for them to synchronize. Based on the under-actuated configuration, a trajectory control algorithm is proposed and includes the following parts: (i) A control principle based on variable rod length is adopted so that the snake robot can track into a small working space; (ii) a trajectory planning of the snake robot in a fixed state at one end is realized by an iterative tractrix principle minimizing the joint displacement; and (iii) a fast return tracking control of the snake robot in any posture is realized by adopting the principles of the variable rod-length tractrix and the forced return iteration. A snake robot with an arm 2300 mm in length is designed and fabricated. The trajectory control simulation and experiments validate the correctness of the trajectory control algorithm and the rationality of the structural design. (c) 2022 Elsevier Inc. All rights reserved.
WOS关键词KINEMATICS ; MOTION ; MANIPULATORS
资助项目National Key R&D Program of China[2019YFB1309600] ; National Natural Sci-ence Foundation of China[51861135306] ; National Natural Sci-ence Foundation of China[51875281] ; National Natural Sci-ence Foundation of China[11802305] ; China National Special Project for Mag-netic Confinement Fusion Science Program[2017YFE0300503]
WOS研究方向Engineering ; Mathematics ; Mechanics
语种英语
出版者ELSEVIER SCIENCE INC
WOS记录号WOS:000795862500007
资助机构National Key R&D Program of China ; National Natural Sci-ence Foundation of China ; China National Special Project for Mag-netic Confinement Fusion Science Program
源URL[http://ir.hfcas.ac.cn:8080/handle/334002/130873]  
专题中国科学院合肥物质科学研究院
通讯作者Ji, Aihong
作者单位1.Lappeenranta Univ Technol, F-53850 Lappeenranta, Finland
2.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
3.Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing 210016, Peoples R China
推荐引用方式
GB/T 7714		 Qin, Guodong,Wu, Huapeng,Cheng, Yong,et al. Adaptive trajectory control of an under-actuated snake robot[J]. APPLIED MATHEMATICAL MODELLING,2022,106.
APA Qin, Guodong.,Wu, Huapeng.,Cheng, Yong.,Pan, Hongtao.,Zhao, Wenlong.,...&Ji, Aihong.(2022).Adaptive trajectory control of an under-actuated snake robot.APPLIED MATHEMATICAL MODELLING,106.
MLA Qin, Guodong,et al."Adaptive trajectory control of an under-actuated snake robot".APPLIED MATHEMATICAL MODELLING 106(2022).

入库方式： OAI收割

来源：合肥物质科学研究院

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