Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 19, Issue 10, Pages 3475-3486Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-020-0607-2
Keywords
Kinematics; obstacle avoidance; prismatic joint; redundancy; singularity avoidance; snake robot
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Funding
- JSPS KAKENHI [JP18K04011]
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This paper introduces a control method for a planar snake robot with prismatic joints, allowing the robot to track a target trajectory by adjusting link lengths. The method utilizes the redundancy of prismatic joints for subtasks such as singularity avoidance and obstacle avoidance. Simulation results demonstrate the effectiveness of the proposed method in avoiding singular configurations through changes in link lengths.
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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