Redundant Control of a Planar Snake Robot with Prismatic Joints |
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Authors: | Tanaka Motoyasu Sawabe Hidemasa Nakajima Mizuki Ariizumi Ryo |
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Affiliation: | 1.Department of Mechanical Intelligent Systems Engineering, Graduate School of Information Science and Engineering, the University of Electro-Communications, Tokyo, 182-8585, Japan ;2.Department of Mechanical Systems Engineering, Graduate School of Engineering, Nagoya University, Nagoya, 464-8603, Japan ; |
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Abstract: | This paper presents a control method of a planar snake robot with prismatic joints. The kinematic model is derived considering velocity constraints caused by passive wheels. The proposed control method based on the model allows the robot to track a target trajectory by appropriately changing its link length using prismatic joints. The degrees of freedom of prismatic joints are represented as kinematic redundancy in the model and are used in realizing subtasks such as singularity avoidance and obstacle avoidance. In addition, the link length is below its limit when introducing a sigmoid function into the kinematic model. Simulations are carried out to demonstrate the effectiveness of the proposed method and show a novel motion that avoids singular configurations through changes in link lengths. |
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