Title :
Experimental verification of transversal functions for trident snake robot
Author :
Cholewinski, Mateusz ; Magiera, Wladyslaw ; Mazur, Alicja
Author_Institution :
Electron. Fac., Dept. of Cybern. & Robot., Wroclaw Univ. of Technol., Wrocław, Poland
Abstract :
In the paper control problem of trident snake robot using transversal functions approach has been considered. First, control law based on concept of transversal periodic functions has been introduced. Next, some experiment has been conducted. For experimental part special testbed, including: robotic device - trident snake robot, control system and camera, has been prepared. Experiment has confirmed limited practical application of control based on transversal functions.
Keywords :
cameras; mobile robots; periodic control; robot vision; trajectory control; camera; control law; control problem; control system; experimental verification; robotic device; transversal periodic functions; trident snake robot; Collision avoidance; Manipulators; Mobile robots; Robot kinematics; Trajectory;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4799-5082-9
DOI :
10.1109/MMAR.2014.6957368
