The Variable Diameter Climbing Movement Of Snake-like Robot Based On The Extended Kalman Filter

Snake-like robot has the characteristics of modularity and high redundancy.It can realize a variety of complex gaits,and has important application value in military,civil and other fields.Among all the gaits of snake-like robot,climbing movement is the most widely used,and plays an important role in bridge safety detection.In this paper,the decoupled theory and extended Kalman filter are used to realize the theoretical analysis and experimental simulation of the snake-like robot's variable diameter climbing movement,and the safety performance of the climbing movement is analyzed based on the idea of elastic envelope.Firstly,this paper introduces the real model of snake-like robot in detail,explains the connection methods between the joint modules,describes the structural characteristics of the joint module,and briefly describes the steering gear,power supply system,communication system,control system and sensors.Then,based on kinematics,this paper analyzes the basic gait and variable diameter climbing movement of snake-like robot,and carries out corresponding simulation experiments.Firstly,based on the screw theory and the exponential product formula,the kinematic model of the snake-like robot is established,then the gait generation methods of the snake-like robot is introduced,and the basic gaits of the snake-like robot are obtained by using the control function gait generation method.Then we improve the climbing movement,and realize the variable diameter climbing movement based on decoupling and extended Kalman filter.Finally,we analyze the safety performance of the snake robot in the process of climbing movement based on the idea of elastic envelope.Then the mechanical analysis of the snake-like robot is carried out.Firstly,based on the screw theory and Kane equation,the dynamic model of the snake-like robot is established.Then,the dynamic problem is simplified into the static problem.Based on the idea of elastic envelope,the safety climbing coefficient and the corresponding control parameters of the snake-like robot are solved.Then,the corresponding dynamic simulation and analysis are carried out based on ADAMS to verify its correctness.Finally,a series of experiments are carried out based on the developed real model of snake-like robot.Compared with the corresponding simulation results,the correctness and effectiveness of various basic gaits are verified,and the consistency between the simulation results of snake-like robot and the experiment results of the developed real model isconfirmed,which lays a foundation for the realization of the variable diameter climbing movement.