DYNAMIC ANALYSIS AND PATH CONTROL OF A SNAKE LIKE ROBOT

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NEGAHBANI NAVID; GHAYOUR M.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

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Journal: INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY Year:2009 | Volume:2 | Issue:2 (6) Page(s): 61-72

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Information Journal Paper

Title

DYNAMIC ANALYSIS AND PATH CONTROL OF A SNAKE LIKE ROBOT

Author(s)

NEGAHBANI NAVID | GHAYOUR M. | Issue Writer Certificate

Keywords

SNAKEQ3

LIKE ROBOTQ3

SERPENOID CURVEQ2

PATH PLANNINGQ3

DYNAMICQ2

CONTROLQ3

KINEMATICS CHAINQ3

Abstract

In this paper a modular wheel less SNAKE-like robot by considering viscous friction is modeled. The motion equations of the robot are derived. Then by imitating a real SNAKE motion, the robot is CONTROLled on the way that tracks the predefined trajectory. The CONTROLler CONTROLs the center of mass and global orientation. The motion of the robot is simulated for tracking a line and a sine curve. It is shown that the robot tracks the trajectories smoothly.

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APA: Copy

NEGAHBANI, NAVID, & GHAYOUR, M.. (2009). DYNAMIC ANALYSIS AND PATH CONTROL OF A SNAKE LIKE ROBOT. INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY, 2(2 (6)), 61-72. SID. https://sid.ir/paper/172386/en

Vancouver: Copy

NEGAHBANI NAVID, GHAYOUR M.. DYNAMIC ANALYSIS AND PATH CONTROL OF A SNAKE LIKE ROBOT. INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY[Internet]. 2009;2(2 (6)):61-72. Available from: https://sid.ir/paper/172386/en

IEEE: Copy

NAVID NEGAHBANI, and M. GHAYOUR, “DYNAMIC ANALYSIS AND PATH CONTROL OF A SNAKE LIKE ROBOT,” INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY, vol. 2, no. 2 (6), pp. 61–72, 2009, [Online]. Available: https://sid.ir/paper/172386/en

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