A Recursive Approach for Analysis of Snake Robots Using Kane’s Equations

2005 ◽  
Author(s):  
Hadi Tavakoli Nia ◽  
Hossein Nejat Pishkenari ◽  
Ali Meghdari
Keyword(s):  
Nonholonomic Constraints ◽  
Dynamic Equations ◽  
Snake Robot ◽  
Euler’S Method ◽  
Cpu Time ◽  
Kane’S Equations ◽  
Kane's Equations ◽  
Link Model ◽  
Computational Procedures ◽  
Snake Robots

This paper presents a recursive approach for solving kinematic and dynamic problem in snake-like robots using Kane’s equations. An n-link model with n-nonholonomic constraints is used as the snake robot model in our analysis. The proposed algorithm which is used to derive kinematic and dynamic equations recursively enhances the computational efficiency of our analysis. Using this method we can determine the number of additions and multiplications as a function of n. The proposed method is compared with the Lagrange and Newton-Euler’s method in three different aspects: Number of operations, CPU time and error in the computational procedures.

A recursive approach for the analysis of snake robots using Kane's equations

Robotica ◽  
2006 ◽  
Vol 24 (2) ◽  
pp. 251-256 ◽  
Author(s):  
H. Tavakoli Nia ◽  
H. N. Pishkenari ◽  
A. Meghdari
Keyword(s):  
Nonholonomic Constraints ◽  
Dynamic Problems ◽  
Snake Robot ◽  
Euler’S Method ◽  
Cpu Time ◽  
Kane’S Equations ◽  
Kane's Equations ◽  
Link Model ◽  
Computational Procedures ◽  
Snake Robots

This paper presents a recursive approach for solving kinematic and dynamic problems in snake-like robots using Kane's equations. An n-link model with n-nonholonomic constraints is used as the snake robot model in our analysis. The proposed algorithm which is used to derive kinematic and dynamic equations recursively, enhances the computational efficiency of our analysis. Using this method we can determine the number of additions and multiplications as a function of n. The proposed method is compared with the Lagrange and Newton-Euler's method in three different aspects: Number of operations, CPU time and error in the computational procedures.

Mobile manipulator modeling with Kane's approach

Robotica ◽  
2001 ◽  
Vol 19 (6) ◽  
pp. 675-690 ◽  
Author(s):  
Herbert G. Tanner ◽  
Kostas J. Kyriakopoulos
Keyword(s):  
Control Strategies ◽  
Nonholonomic Constraints ◽  
Dynamic Equations ◽  
Mobile Manipulator ◽  
Constraint Equations ◽  
Motion Constraints ◽  
Kane’S Equations ◽  
Kane's Equations ◽  
Physical Insight ◽  
Complete Framework

A wheeled mobile manipulator system is modeled using Kane's dynamic equations. Kane's equations are constructed with minimum effort, are control oriented and provide both physical insight and fast simulations. The powerful tools of Kane's approach for incorporating nonholonomic motion constraints and bringing noncontributing forces into evidence are exploited. Both nonholonomic constraints associated with slipping and skidding as well as conditions for avoiding tipping over are included. The resulting equations, along with the set of constraint equations provide a safe and complete framework for developing control strategies for mobile manipulator systems.

A fresh insight into Kane's equations of motion

Robotica ◽  
2015 ◽  
Vol 35 (3) ◽  
pp. 498-510 ◽  
Author(s):  
H. Nejat Pishkenari ◽  
S. A. Yousefsani ◽  
A. L. Gaskarimahalle ◽  
S. B. G. Oskouei
Keyword(s):  
Dynamic Systems ◽  
Rapid Development ◽  
Equations Of Motion ◽  
Nonholonomic Constraints ◽  
Kane’S Equations ◽  
Kane's Equations ◽  
The Matrix ◽  
Impulsive Forces ◽  
Multi Body ◽  
Fresh Insight

SUMMARYWith rapid development of methods for dynamic systems modeling, those with less computation effort are becoming increasingly attractive for different applications. This paper introduces a new form of Kane's equations expressed in the matrix notation. The proposed form can efficiently lead to equations of motion of multi-body dynamic systems particularly those exposed to large number of nonholonomic constraints. This approach can be used in a recursive manner resulting in governing equations with considerably less computational operations. In addition to classic equations of motion, an efficient matrix form of impulse Kane formulations is derived for systems exposed to impulsive forces.

A Conservation Theorem for Constrained Multibody Systems

1993 ◽  
Vol 60 (4) ◽  
pp. 962-969
Author(s):  
J. T. Wang
Keyword(s):  
Multibody Systems ◽  
Nonholonomic Constraints ◽  
First Integral ◽  
Integral Of Motion ◽  
Power Equation ◽  
Kane’S Equations ◽  
Kane's Equations ◽  
Power And Energy ◽  
Conservation Theorem ◽  
General Conservation

This paper presents a general conservation theorem for multibody systems subject to simple nonholonomic constraints. It is applicable to both conservative and nonconservative systems. The derivation of this theorem is based on Kane’s equations with undetermined multipliers. A power equation and a first integral of motion have been derived. They emerge in physically meaningful forms and include expressions for evaluating the power and energy flowing into the system. Like Kane’s equations, the power equation and the first integral of motion are derived in matrix form. This makes them particularly useful for the computer formulation and solution of multibody system dynamics.

Bio-Inspired Snake Robots

2018 ◽  
pp. 246-275 ◽  
Author(s):  
Mohammadali Javaheri Koopaee ◽  
Cid Gilani ◽  
Callum Scott ◽  
XiaoQi Chen
Keyword(s):  
Future Research ◽  
Snake Robot ◽  
Cluttered Environments ◽  
Flat Surfaces ◽  
Robot Locomotion ◽  
Control Schemes ◽  
Unstructured Environment ◽  
And Control ◽  
World Environment ◽  
Snake Robots

This chapter concerns modelling and control of snake robots. Specifically, the authors' main goal is introducing some of the fundamental design, modelling, and control approaches introduced for efficient snake robot locomotion in cluttered environments. This is a critical topic because, unlike locomotion in flat surfaces, where pre-specified gait equations can be employed, for locomotion in unstructured environment more sophisticated control approaches should be used to achieve intelligent and efficient mobility. To reach this goal, shape-based modelling approaches and a number of available control schemes for operation in unknown environments are presented, which hopefully motivates more scholars to start working on snake robots. Some ideas about future research plans are also proposed, which can be helpful for fabricating a snake robot equipped with the necessary features for operation in a real-world environment.

Modeling and Mechanical Analysis of Snake Robots on Cylinders

2019 ◽  
Vol 11 (4) ◽  
Author(s):  
Chaoquan Tang ◽  
Peng Li ◽  
Gongbo Zhou ◽  
Deyuan Meng ◽  
Xin Shu ◽  
...  
Keyword(s):  
Mechanical Analysis ◽  
Point Of View ◽  
The Body ◽  
Optimal Method ◽  
Tree Structures ◽  
Snake Robot ◽  
Mechanical Models ◽  
And Performance ◽  
The Relationship ◽  
Snake Robots

The narrow and redundant body of the snake robot makes it suitable for the inspection of complex bar structures, such as truss or tree structures. One of the key issues affecting the efficient motion of snake robots in complex bar structures is the development of mechanical models of snake robots on cylinders. In other words, the relationship between the payload and structural and performance parameters of the snake robot is still difficult to clarify. In this paper, the problem is approached with the Newton–Euler equations and the convex optimal method. Firstly, from the kinematic point of view, the optimal attitude of the snake robot wrapped around the cylinder is found. Next, the snake robot is modeled on the cylinder and transformed into a convex optimization problem. Then, the relationship between the payload of the snake robot on the cylinder and the geometric and attitude parameters of the body of snake robots is analyzed. Finally, the discussion for the optimal winding attitude and some advices for the design of the snake robot are proposed. This study is helpful toward the optimal design of snake robots, including geometry parameters and motor determination.

scholarly journals A Head Control Strategy of the Snake Robot Based on Segmented Kinematics

2019 ◽  
Vol 9 (23) ◽  
pp. 5104
Author(s):  
Yunhu Zhou ◽  
Yuanfei Zhang ◽  
Fenglei Ni ◽  
Hong Liu
Keyword(s):  
Control Strategy ◽  
Control Strategies ◽  
The Body ◽  
Head Part ◽  
Joint Angles ◽  
Backbone Curve ◽  
Snake Robot ◽  
Head Control ◽  
Neck Part ◽  
Snake Robots

Head control is important for snake robots to work in an unknown environment. However, the existing methods of head control have certain application limitations for snake robots with different configurations. Thus, a strategy for head control based on segmented kinematics is proposed. Compared with the existing head control strategies, our strategy can adapt to different structures of snake robots, whether wheeled or non-wheeled. In addition, our strategy can realize the accurate manipulation of the snake robot head. The robot body is divided into the base part, neck part and head part. First, parameters of backbone curve are optimized for enlarging the area of the support polygon. Then the desired pose for the head link and the dexterous workspace of the head part can in turn derive the desired position and direction of the end frame for the neck part. An optimization algorithm is proposed to help the end frame of the neck part approach a desired one and obtains the joint angles of the neck part. When the actual frames of the neck part are determined, the dexterous workspace of the head part will cover the desired pose of the head link. Then the TRAC-IK inverse kinematics algorithm is adopted to solve the joint angles of the head part. To avoid the collision between the body and the ground, a trajectory planning method of the overall body in Cartesian space is proposed. Finally, simulations validate the effectiveness of the control strategy.

scholarly journals Snake Robot with Driving Assistant Mechanism

2020 ◽  
Vol 10 (21) ◽  
pp. 7478
Author(s):  
Junseong Bae ◽  
Myeongjin Kim ◽  
Bongsub Song ◽  
Maolin Jin ◽  
Dongwon Yun
Keyword(s):  
Dynamic Simulation ◽  
Degree Of Freedom ◽  
Rough Terrain ◽  
Snake Robot ◽  
Wide Range ◽  
Locomotion Speed ◽  
High Degree ◽  
Snake Robots

Snake robots are composed of multiple links and joints and have a high degree of freedom. They can perform various motions and can overcome various terrains. Snake robots need additional driving algorithms and sensors that acquire terrain data in order to overcome rough terrains such as grasslands and slopes. In this study, we propose a driving assistant mechanism (DAM), which assists locomotion without additional driving algorithms and sensors. In this paper, we confirmed that the DAM prevents a roll down on a slope and increases the locomotion speed through dynamic simulation and experiments. It was possible to overcome grasslands and a 27 degrees slope without using additional driving controllers. In conclusion, we expect that a snake robot can conduct a wide range of missions well, such as exploring disaster sites and rough terrain, by using the proposed mechanism.

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