Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
The paper presents a kinematic model and controller for a snake robot with prismatic mechanism. The robot has serially-connected links by active joints, passive wheels, and prismatic mechanism which elongates and contracts the link. Two kinematic models are derived. One is the model in which the kinematic redundancy is represented as the redundant input, and the other is the model in which the redundancy is represented as the controlled variable. Two control inputs are designed based on two models, and simulations are carried out to demonstrate the effectiveness of the proposed inputs.
