Control System Design and Implementation of Flexible Multi-joint Snake-Like Robot for Inspecting Vessel

Motion Planning Algorithm of a Multi-Joint Snake-Like Robot Based on Improved Serpenoid Curve

“…According to the kinematics link model of the multi-joint snake-like robot and the curve (12) of joint angle of the robot relative to time variation, this paper presents a motion planning algorithm of the multi-joint snake-like robot with improved Serpenoid curve equation. The algorithm introduces an adjusting factor of joint angle amplitude and an axial bending moment (27) of turning angle adjusting factor at the tail of the robot. When the robot encounters the obstacles, the robot needs to deflect.…”

“…It can be seen from (27) that the forward thrust amplitude j of the jth link of the robot can be increased by increasing the vertical velocity amplitude ẏ j of the robot when the rotation angle of the link joint is θ j (t) < π 4 . The axial bending moment (27) with the amplitude adjustment factor and turning angle adjustment factor is differentiated, and the angular velocity (28) of each link joint is obtained.…”

“…The influence of parameters α, ω and δ in the improved Serpenoid curve equation motion planning (27) on the forward velocity of the multi-joint snake-like robot is shown in Figs.23, 24 and 25. Fig.23 shows that the swing amplitude of the multi-joint snake-like robot is positively correlated with the forward velocity of the robot.…”

“…The axial bending moment at the tail provides the forward power for the robot. Finally, the dynamic of the improved Serpenoid curve equation was analyzed, and a closed-loop control system was designed to control the forward motion of the robot [27].…”