Study On Locomotion Control Of A Snake–like Robot With Omnidirectional Mechanisms

Since the birth of the first Snake–like robot prototype in the world in 1972, at home and abroad of Snake–like robot locomotion control research is deepened day by day, to Professor Hirose Tokyo Institute of technology, Chinese Academy of Sciences, Shenyang Institute of automation, Shu Gen Ma and Shanghai traffic university yellow constant as the representative, the of biomimetic snake were a lot of research, put forward a variety of control methods and in the prototype, given the mobility and flexibility of Snake–like robot stronger.Based on their research, the locomotion control of the snake is controlled by the control of the straight line, the turning movement and the lateral motion. Through the simulation and prototype experiment, several typical control methods are verified, and two new turning control methods are proposed. At the same time, a control system of Snake–like robot prototype is presented, and the research of S01 Snake–like robot prototype is completed.The main research contents are as follows:(1) The mechanism of the mechanical structure and the mechanism of the snake are studied. Based on the research results of many domestic and foreign research institutions and scholars, the mechanical structure and mechanism of the snake are summarized and studied.This paper introduces the structure of the joint structure of the universal joint, and studies the mechanism of the snake movement, and studies the typical motion of the snake.(2) The research on the motion control of the snake Research Based on Hirose, Shu Gen Ma, yellow constant, of the Snake–like robot line driving control, turning locomotion control and lateral shift control is studied. Through the experiments on MATLAB simulation modeling summed up their advantages and disadvantages and application scenarios, into the tangent and the combination control method and S01 biomimetic snake control strategy is proposed to provide the theoretical basis.(3) A new turn control method Based on the research on locomotion control of biomimetic snake, traditional biomimetic snake turn control method such as joint angles for discontinuous, in turn cannot fully maintain serpentine curves and turning efficiency is not high, the innovation of this paper proposed the tangent control method and the combination control method, a good solution to the problem, and the control method is verified through the experiments on MATLAB simulation modeling.(4) design and implementation of Snake–like robot control system This paper presents laboratory of the first generation of biomimetic snake prototype S01 scheme of control system and assist Lab team completed the prototype development, a control system is built, the PC of the central control system, Snake–like robot joint control subsystem S01 biomimetic snake prototype control system based on, through the prototype experiments proved the feasibility of this scheme.Through the simulation and the prototype experiment to prove that the linear driving control and turning control and lateral shift control is feasible, the tangent control method and the combination control method on the control of Snake–like robot turn, turn control effect is obvious, applicable range wide, is compared with the traditional control method has obvious advantages, the biomimetic snake control system in the actual movement control is feasible.