2つの関節と2つのステアリングを持つヘビ型ロボットの制御(機械力学,計測,自動制御)

概要

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This paper introduces and describes a new type of snake-like robot, a two-joint, two-steering snake-like robot, and its control method. We first present the mechanical design of this snake-like robot that is inspired by a mathematical perspective on transforming its kinematical equation into three-chain, single-generator chained form, in a mathematical framework, differential geometry. Especially, we assume a virtual steering at the head of the first link of the snake-like robot, which makes the transformation possible. We secondly present a path following feedback control method based on such chained form that enables the first link to follow a straight line at a constant velocity. Of course, it is also possible for the first link to take any desired position and orientation by following a couple of paths under this feedback control method. The validity of the mechanical design of the snake-like robot, the transformation of its kinematical equation, and its control method is verified by comouter simulations.
社団法人日本機械学会の論文
2005-06-25