TY - JOUR
T1 - Motion planning algorithm of a multi-joint snake-like robot based on improved serpenoid curve
AU - Li, Dongfang
AU - Wang, Chao
AU - Deng, Hongbin
AU - Wei, Yiran
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2020
Y1 - 2020
N2 - In order to study the winding motion of a multi-joint snake-like robot with multi-degree of redundancy in plane, a motion planning algorithm of a multi-joint snake-like robot based on improved Serpenoid curve equation is proposed in this paper. Firstly, the kinematics and dynamics models of a multi-joint snake-like robot are established, and the joint angle curve equation and the thrust expression of each joint of the robot relative to time are obtained. Next, the existing Serpenoid curve equation is improved to calculate the axial bending moment function with joint angle amplitude adjustment factor and turn angle adjustment factor. By analyzing the relationship between the forward thrust of the robot and the improved Serpenoid curve equation, a simple, efficient and reliable closed-loop control system was designed. Then, MATLAB and SimWise4D were used for simulation to obtain the motion trajectory of the robot based on the improved Serpenoid curve motion planning algorithm, and the influence of different parameters on the forward velocity of the multi-joint snake robot was analyzed. Finally, the validity of the motion planning algorithm of a multi-joint snake-like robot based on improved Serpenoid curve equation is verified by the actual experiment.
AB - In order to study the winding motion of a multi-joint snake-like robot with multi-degree of redundancy in plane, a motion planning algorithm of a multi-joint snake-like robot based on improved Serpenoid curve equation is proposed in this paper. Firstly, the kinematics and dynamics models of a multi-joint snake-like robot are established, and the joint angle curve equation and the thrust expression of each joint of the robot relative to time are obtained. Next, the existing Serpenoid curve equation is improved to calculate the axial bending moment function with joint angle amplitude adjustment factor and turn angle adjustment factor. By analyzing the relationship between the forward thrust of the robot and the improved Serpenoid curve equation, a simple, efficient and reliable closed-loop control system was designed. Then, MATLAB and SimWise4D were used for simulation to obtain the motion trajectory of the robot based on the improved Serpenoid curve motion planning algorithm, and the influence of different parameters on the forward velocity of the multi-joint snake robot was analyzed. Finally, the validity of the motion planning algorithm of a multi-joint snake-like robot based on improved Serpenoid curve equation is verified by the actual experiment.
KW - Multi-joint snake-like robot
KW - axial bending moment
KW - closed-loop control
KW - serpenoid curve
UR - http://www.scopus.com/inward/record.url?scp=85078304781&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2020.2964486
DO - 10.1109/ACCESS.2020.2964486
M3 - Article
AN - SCOPUS:85078304781
SN - 2169-3536
VL - 8
SP - 8346
EP - 8360
JO - IEEE Access
JF - IEEE Access
M1 - 8950390
ER -