Abstract
The trident snake robot is a mechanical device that serves as a demanding testbed for motion planning and control algorithms of constrained non-holonomic systems. This paper provides the equations of motion and addresses the motion planning problem of the trident snake with dynamics, equipped with either active joints (undulatory locomotion) or active wheels (wheeled locomotion). Thanks to a partial feedback linearization of the dynamics model, the motion planning problem basically reduces to a constrained kinematic motion planning. Two kinds of constraints have been taken into account, ensuring the regularity of the feedback and the collision avoidance between the robot’s arms and body. Following the guidelines of the endogenous configuration space approach, two Jacobian motion planning algorithms have been designed: the singularity robust Jacobian algorithm and the imbalanced Jacobian algorithm. Performance of these algorithms have been illustrated by computer simulations.
Highlights
The snake-like robots belong to biologically inspired robotic devices of remarkable potential of applicability
Existing motion planning algorithms for trident snake primarily restrict to the kinematics of single or double-link arms
The trident snake robot with active joints and passive wheels can be described by generalized coordinates q = (x, y, θ, φ1, φ2, φ3)T ∈ R6
Summary
The snake-like robots belong to biologically inspired robotic devices of remarkable potential of applicability. Existing motion planning algorithms for trident snake primarily restrict to the kinematics of single or double-link arms These algorithms have been derived using either geometric methods [4,5,6] or the endogenous configuration space approach [7,8,9]. The motion planning problem of the trident snake includes additional constraints guaranteeing the avoidance of singular configurations and collisions between the robot’s arms and its body. In what follows this problem will be solved by applying the endogenous configuration space approach [13, 14] to partially feedback linearized equations of motion.
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