- Tytuł:
- Motion planning of the trident snake robot equipped with passive or active wheels
- Autorzy:
-
Paszuk, D.
Tchoń, K.
Pietrowska, Z. - Tematy:
-
trident snake
motion planning
singularities
endogenous configuration space approach - Pokaż więcej
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Powiązania:
- https://bibliotekanauki.pl/articles/201597.pdf Link otwiera się w nowym oknie
- Opis:
- 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.
- Dostawca treści:
- Biblioteka Nauki
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