A novel approach for modeling and tracking control of a passive-wheel snake robot

Kang Huang,Hao Sun,Ke Shao,Shengchao Zhen

doi:10.1177/1687814017693944

Kang Huang, Hao Sun + Show 2 more

Open Access

https://doi.org/10.1177/1687814017693944

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Abstract

This article proposed a novel approach for the dynamic modeling and controller design of a passive-wheel snake robot based on Udwadia–Kalaba theory. Compared to common methods, this approach is easily processed for many-degree-of-freedom snake robot. The desired trajectory is easily modeled as a trajectory constraint, and the nonholonomic constraints from the passive wheels’ lateral velocity are also easily handled using Udwadia–Kalaba theory. Besides the proposed equation of motion is analytical, no approximation or linearization as well as extra variables such as Lagrangian multiplier is needed as common methods usually do. The servo joint constraint forces are precisely calculated by solving Udwadia–Kalaba equation, and no complicated control structure design is needed as common control methods always do especially for under-actuated mechanical systems. This article provides a novel dynamic modeling and controller design approach for the passive-wheel snake robot in a new perspective. The theoretical analysis and simulation verify the proposed approach. The trajectory has good incidence with the designed one, and the real-time joint forces are also conveniently acquired.

Highlights

As a type of bionic robots, the snake robot is drawing attention in recent years
We propose a novel approach of the modeling and controller design of the passive-wheel snake robot on the basis of the Udwadia–Kalaba theory
A novel approach for the trajectory tracking control of a passive-wheel snake robot is proposed based on Udwadia–Kalaba theory

Summary

Introduction

As a type of bionic robots, the snake robot is drawing attention in recent years. The snake robot can do a number of works such as environment detection, resource prospecting, and pipeline maintenance, which is difficult or dangerous for human beings to process. This approach provides analytical equation of motion of the snake system, in which the nonholonomic wheel constraints are modeled This approach is easy to handle, especially applicable for the modeling of many-degree-of-freedom snake systems, without extra process variables such as Lagrangian multiplier. Based on the proposed dynamic model, the controller design can be derived directly, no linearization or approximation of the model or modification of the controller is needed such as visual sensors as common methods usually do, especially for the under-actuated nonholonomic passive-wheel snake robot system. The nonholonomic wheel constraints are handily modeled in the Udwadia–Kalaba fundamental equation of motion This approach makes the modeling process of the many-degree-of-freedom snake robot system simplified largely by mainly three steps, without any extra process variables.

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Conclusion