Research On Dynamic Modeling And Control Of Snake-like Robots

As a kind of bionic robot,snake-like robots play an important role in disaster relief,terrain survey,micro-surgery and aerospace exploration.To achieve the above functions requires the snake robot to have three-dimensional motion capability and ensure accuracy,high efficiency,and adaptability.Therefore,accurate three-dimensional kinematics and three-dimensional dynamic modeling and intelligent,efficient and accurate control of snake robots are necessary.The main research contents of this article are as follows:1?According to the characteristics of the orthogonal articulated robot,the DH method is used to analyze the column mechanism of the snake-like robot's abstract linkage mechanism.Then the complete constraint equation is listed according to the complete constraint relationship of the connecting rod in the space and the formula is integrated.The establishment of a kinematic model was achieved.2?In order to analyze the problem of external force when establishing a snake-like robot dynamics model,the generalized friction model in three-dimensional space is proposed for the first time.The model not only realizes the unified expression of two-dimensional ground friction and gravity,but also can select the external force conditions of each joint in real time,which lays the foundation for the construction of three-dimensional dynamic model.3?Aiming at the modeling problem of serpentine robots,a three-dimensional dynamics model was constructed.Using Newton-Euler method combined with mechanics principles,the force and motion of serpentine robots were analyzed and expressed,and a three-dimensional dynamics model was obtained.The decoupling operation of the dynamic equations achieves the separation of the driveable and non-driveable parts,and finally transforms the kinetic equations into ray-like forms.Finally,using ADAMS and MATLAB to simulate the gait and lateral gait gait,the validity of the model was verified.4?Based on the deterministic learning method,the traj ectory tracking control of the snake robot is performed.This not only realizes the precise trajectory tracking of the snake-like robot,but also improves the stability of the system in unknown and uncertain environments.It also learns the unknown dynamics of the snake robot.When same or similar tasks are performed,there is no need to re-learn but just use the previously learned knowledge to control,which greatly improve the intelligence and high efficiency of snake-like robots.Finally,the effectiveness of the method is verified by simulation.