{"title":"求解10自由度蛇形机器人直接运动学的算法改进方案","authors":"Martínez Gómez Carlos Alberto, V. Emilio","doi":"10.1109/CONIIN54356.2021.9634821","DOIUrl":null,"url":null,"abstract":"Morphological structure of Snake Robots, represents an advantage related to displacement on irregular surfaces. Researches on this kind of robots are in purpose to use them in tasks related to inspection in pipelines, danger zones or find people trapped in earthquakes. In this way, we propose an improvement of the locomotion algorithm, with respect to past works, employing a different strategy that reduce the computational cost to solve the Direct Kinematics Problem, we present a proposal of a mathematical model and its simulation. Analyzing results with the new algorithm and conclusions","PeriodicalId":402828,"journal":{"name":"2021 XVII International Engineering Congress (CONIIN)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2021-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Algorithm Improvement Proposal to Solve the Direct Kinematics of a 10 Degrees of Freedom Snake Robot\",\"authors\":\"Martínez Gómez Carlos Alberto, V. Emilio\",\"doi\":\"10.1109/CONIIN54356.2021.9634821\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Morphological structure of Snake Robots, represents an advantage related to displacement on irregular surfaces. Researches on this kind of robots are in purpose to use them in tasks related to inspection in pipelines, danger zones or find people trapped in earthquakes. In this way, we propose an improvement of the locomotion algorithm, with respect to past works, employing a different strategy that reduce the computational cost to solve the Direct Kinematics Problem, we present a proposal of a mathematical model and its simulation. Analyzing results with the new algorithm and conclusions\",\"PeriodicalId\":402828,\"journal\":{\"name\":\"2021 XVII International Engineering Congress (CONIIN)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-06-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 XVII International Engineering Congress (CONIIN)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CONIIN54356.2021.9634821\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 XVII International Engineering Congress (CONIIN)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CONIIN54356.2021.9634821","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Algorithm Improvement Proposal to Solve the Direct Kinematics of a 10 Degrees of Freedom Snake Robot
Morphological structure of Snake Robots, represents an advantage related to displacement on irregular surfaces. Researches on this kind of robots are in purpose to use them in tasks related to inspection in pipelines, danger zones or find people trapped in earthquakes. In this way, we propose an improvement of the locomotion algorithm, with respect to past works, employing a different strategy that reduce the computational cost to solve the Direct Kinematics Problem, we present a proposal of a mathematical model and its simulation. Analyzing results with the new algorithm and conclusions
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