Motion planning of the trident snake robot equipped with passive or active wheels

Bulletin of the Polish Academy of Sciences. Technical Sciences

Z. PietrowskaInstitute of Computer Engineering, Control and Robotics, Wroc?aw University of Technology, 11/17 Janiszewskiego St., 50-372 Wroc?aw, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹  D. PaszukCorresponding authorInstitute of Computer Engineering, Control and Robotics, Wroc?aw University of Technology, 11/17 Janiszewskiego St., 50-372 Wroc?aw, PolandEmailOther articles by this author:De Gruyter OnlineGoogle Scholar¹  K. Tcho?Institute of Computer Engineering, Control and Robotics, Wroc?aw University of Technology, 11/17 Janiszewskiego St., 50-372 Wroc?aw, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹ 

[1] Institute of Computer Engineering, Control and Robotics, Wroc?aw University of Technology, 11/17 Janiszewskiego St., 50-372 Wroc?aw, Poland

关键词: Keywords : trident snake;    motion planning;    singularities;    endogenous configuration space approach.;   

DOI  :  10.2478/v10175-012-0067-9

学科分类：工程和技术（综合）

来源: Polska Akademia Nauk * Centrum Upowszechniania Nauki / Polish Academy of Sciences, Center for the Advancement of Science

【 摘 要 】

We study the kinematics of the trident snake robot equipped with either active joints and passive wheels or passive joints and active wheels. A control system representation of the kinematics is derived, and control singularities examined. Two motion planning problems are addressed, corresponding to diverse ways of controlling the robot, and solved by means of the endogenous configuration space approach. The constraints imposed by the presence of control singularities are handled using the imbalanced Jacobian algorithm assisted by an auxiliary feedback. Performance of the motion planning algorithms is demonstrated by computer simulations.

【 授权许可】

Unknown