Title :
Modeling and control of snake-like robot to move in the tube
Author :
Shell, Michael ; Kasahara, Makito ; Ynagida, Takeru ; Iwase, Masami
Author_Institution :
Dept. of Robot. & Mechatron., Tokyo Denki Univ., Tokyo, Japan
Abstract :
The purpose of this study is to realize driving of snake-like robot in a tube. The modeling of the snake-like robot in a tube is important for design the driving control. Hence the model is described by Projection Method. The driving control is derived by State Dependent Riccati Equation based on the model. Numerical simulations present the snake-like robot can drive in a tube as its head position is converged to the origin.
Keywords :
Riccati equations; control system synthesis; mobile robots; motion control; pipes; position control; driving control design; head position; numerical simulations; projection method; snake-like robot control; snake-like robot driving; snake-like robot modeling; state dependent Riccati equation; tube; Decision support systems;
Conference_Titel :
Mechatronics (ICM), 2015 IEEE International Conference on
Conference_Location :
Nagoya
DOI :
10.1109/ICMECH.2015.7084025
