Adaptive trajectory control of an under-actuated snake robot

doi:10.1016/j.apm.2022.02.001

	Adaptive trajectory control of an under-actuated snake robot
	Qin, Guodong 1,2; Wu, Huapeng 2; Cheng, Yong 3; Pan, Hongtao 3; Zhao, Wenlong 3; Shi, Shanshuang 3; Song, Yuntao 3; Ji, Aihong 1
刊名	APPLIED MATHEMATICAL MODELLING
	2022-06-01
卷号	106
关键词	Snake robot Underactuated Adaptive trajectory control Tractrix
ISSN号	0307-904X
DOI	10.1016/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.
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关键词	KINEMATICS ; MOTION ; MANIPULATORS
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
内容类型	期刊论文
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.Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing 210016, Peoples R China 2.Lappeenranta Univ Technol, F-53850 Lappeenranta, Finland 3.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, 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).