Simulation and Experimental Study of the Direction Control Based on the Torque Compensation of a Snake Robot
文献类型：会议论文
| 作者 | Zhang DF(张丹凤) ; Wu CD(吴成东); Li B(李斌); Wang MH(王明辉)
|
| 出版日期 | 2013 |
| 会议名称 | 4th International Conference of Bionic Engineering (ICBE’13) |
| 会议日期 | August 13-16, 2013 |
| 会议地点 | Nanjing, China |
| 关键词 | Direction Control, Energy Balance Exponential Function Snake Robot |
| 页码 | 908-916 |
| 中文摘要 | Because the direction goals of the snake robot are different in applications, e.g. the target point and target path, the direction control of a snake robot is a challenging problem. We have proposed a control method, which is called passive creeping based on the energy balance. In this paper, the direction of the snake robot which is controlled by the passive creeping control method is discussed. A new direction control method which is based on the torque compensation is proposed. The direction control method set a universal direction goal for all the applications. The torque of the head joint which leads the locomotion direction is adjusted by the torque compensation. The compensated torque decreases the angle between the direction of the body axis and the expected direction by the exponential decay function. In simulation, the trajectory and the angle express the process of direction adjustment. The error analysis proves the validity and adaptability of the proposed direction control. Also the validity of the proposed method is proved by the experiment which is based on the virtual/physical mixed experimental system. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Applied Mechanics and Materials
 |
| 会议录出版者 | Trans Tech Publications Ltd, |
| 会议录出版地 | Zurich-Durnten, Switzerland |
| 语种 | 英语 |
| ISBN号 | 978-3-03785-932-2 |
| WOS记录号 | WOS:000336185100121 |
| 源URL | [http://ir.sia.cn/handle/173321/13927]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhang DF,Wu CD,Li B,et al. Simulation and Experimental Study of the Direction Control Based on the Torque Compensation of a Snake Robot[C]. 见:4th International Conference of Bionic Engineering (ICBE’13). Nanjing, China. August 13-16, 2013. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。