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Redundant Control of a Planar Snake Robot with Prismatic Joints
https://uec.repo.nii.ac.jp/records/10093
https://uec.repo.nii.ac.jp/records/100934964aa25-1ea9-478f-9f86-9851e9c8b341
名前 / ファイル | ライセンス | アクション |
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RedundantControl (2.5 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2022-11-01 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Redundant Control of a Planar Snake Robot with Prismatic Joints | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Kinematics | |||||
キーワード | ||||||
言語 | en | |||||
主題 | obstacle avoidance | |||||
キーワード | ||||||
言語 | en | |||||
主題 | prismatic joint | |||||
キーワード | ||||||
言語 | en | |||||
主題 | redundancy | |||||
キーワード | ||||||
言語 | en | |||||
主題 | singularity avoidance | |||||
キーワード | ||||||
言語 | en | |||||
主題 | snake robot | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Tanaka, Motoyasu
× Tanaka, Motoyasu× Sawabe, Hidemasa× Nakajima, Mizuki× Ariizumi, Ryo |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 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. | |||||
書誌情報 |
en : International Journal of Control, Automation and Systems 巻 19, 号 10, p. 3475-3486, 発行日 2021-10 |
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出版者 | ||||||
出版者 | Springer | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 15986446 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1007/s12555-020-0607-2 | |||||
権利 | ||||||
権利情報 | (c) 2021 Springer | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1007/s12555-020-0607-2 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |