基于简化模型的平面蛇形机器人机动控制

Ehsan Rezapour, Andreas G. Hofmann, K. Pettersen
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引用次数: 15

摘要

研究了平面蛇形机器人的机动控制问题,建立了蛇形机器人的简化运动方程。特别是,我们的目标是为机器人的质心位置稳定一条期望的直线路径,并将机器人沿路径的前进速度调节为恒定的参考速度。为了解决这个问题,我们首先为机器人的全驱动体型变量稳定一个期望的步态模式。此外,我们将该步态模式的参数以两个动态补偿器的形式使用,以控制机器人在平面上的方向和位置。特别地,通过解决机动问题,我们控制了机器人的身体形状、方向和平面位置。
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Maneuvering control of planar snake robots based on a simplified model
This paper considers maneuvering control of planar snake robots, for which the equations of motion are described based on a simplified model. In particular, we aim to stabilize a desired straight line path for the position of the center of mass of the robot, and to regulate the forward velocity of the robot along the path to a constant reference velocity. In order to solve this problem, we first stabilize a desired gait pattern for the fully-actuated body shape variables of the robot. Furthermore, we use the parameters of this gait pattern in the form of two dynamic compensators which control orientation and position of the robot in the plane. In particular, by solving the maneuvering problem, we control the body shape, orientation, and planar position of the robot.
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