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Path following control of planar snake robots using virtual holonomic constraints: theory and experiments

Path following control of planar snake robots using virtual holonomic constraints: theory and experiments

Kategori
Tidsskriftspublikasjon
Sammendrag
This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange equations of motion of the system. Subsequently, we define geometric relations among the generalized coordinates of the system, using the method of virtual holonomic constraints. These appropriately defined constraints shape the geometry of a constraint manifold for the system, which is a submanifold of the configuration space of the robot. Furthermore, we show that the constraint manifold can be made invariant by a suitable choice of feedback. In particular, we analytically design a smooth feedback control law to exponentially stabilize the constraint manifold. We show that enforcing the appropriately defined virtual holonomic constraints for the configuration variables implies that the robot converges to and follows a desired geometric path. Numerical simulations and experimental results are presented to validate the theoretical approach.
Oppdragsgiver
  • Norges forskningsråd / 205622
  • Norges forskningsråd / 223254
Språk
Engelsk
Forfatter(e)
  • Rezapour Ehsan
  • Pettersen Kristin Ytterstad
  • Liljebäck Pål
  • Gravdahl Jan Tommy
  • Kelasidi Eleni
Institusjon(er)
  • Norges teknisk-naturvitenskapelige universitet
  • SINTEF Digital / Mathematics and Cybernetics
År
2014
Publisert i
Robotics and Biomimetics
ISSN
2197-3768
Årgang
1
Hefte nr.
3
Side(r)
1 - 15