Motion planning of the trident snake robot equipped with passive or active wheels

Abstract

Abstract. We study the kinematics of the trident snake robot equipped with either active joints and passive wheels or passive joints and active wheels. A control system representation of the kinematics is derived, and control singularities examined. Two motion planning problems are addressed, corresponding to diverse ways of controlling the robot, and solved by means of the endogenous configuration space approach. The constraints imposed by the presence of control singularities are handled using the imbalanced Jacobian algorithm assisted by an auxiliary feedback. Performance of the motion planning algorithms is demonstrated by computer simulations.

Dynamics and Motion Planning of Trident Snake Robot

“…Singularities of this matrix for active joints and for active wheels are depicted in Fig. 3, see [8]. The plots show complexity of the singular set.…”

“…The expression (8) for the kinetic energy of the body remains unchanged. The kinetic energy of a wheel (9) should be complemented with a component E kti = 1 2 I kzβi 2 referring to its rolling, where…”

“…1. These parameters are: [8]. The requested accuracy of the solution has been achieved after 787 iterations.…”

“…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]. Trajectory tracking algorithms for trident snake, based on the transverse function method, have been proposed in [10].…”

Multiple-task motion planning of non-holonomic systems with dynamics

“…The design and kinematics analysis of the trident snake with passive wheels and active joints can be found in Ishikawa (2004); Ishikawa et al (2010). Recently, this analysis has been extended to the case of active wheels in Paszuk et al (2012) and complemented by a study of trident snake dynamics (Pietrowska, 2012). In both these cases the motion single-task planning algorithms have been derived from the endogenous configuration space approach.…”