Coolterm framing error
This paper presents an adaptive tracking control method of manipulators based on backstepping sliding mode method. Finally, the validity of the motion planning algorithm of a multi-joint snake-like robot based on improved Serpenoid curve equation is verified by the actual experiment. Then, MATLAB and SimWise4D were used for simulation to obtain the motion trajectory of the robot based on the improved Serpenoid curve motion planning algorithm, and the influence of different parameters on the forward velocity of the multi-joint snake robot was analyzed. By analyzing the relationship between the forward thrust of the robot and the improved Serpenoid curve equation, a simple, efficient and reliable closed-loop control system was designed. Next, the existing Serpenoid curve equation is improved to calculate the axial bending moment function with joint angle amplitude adjustment factor and turn angle adjustment factor. Firstly, the kinematics and dynamics models of a multi-joint snake-like robot are established, and the joint angle curve equation and the thrust expression of each joint of the robot relative to time are obtained. In order to study the winding motion of a multi-joint snake-like robot with multi-degree of redundancy in plane, a motion planning algorithm of a multi-joint snake-like robot based on improved Serpenoid curve equation is proposed in this paper. Finally, through the MATLAB simulation and prototype experiment, the motion process of the multi-joint snake robot is observed, the trajectory tracking performance of the robot is analyzed, and the effectiveness of the adaptive trajectory tracking controller is verified. Then, a suitable Lyapunov function is found to verify the stability of the controller. Thirdly, the proposed controller of the multi-joint snake robot is designed by the Backsteppi n g method to realize the control of the joint angle tracking error, link angle tracking error, actuator torque error and motion speed error of the robot. Secondly, the control objective of the controller of the multi-joint snake robot is established. Firstly, a new dynamical model of a multi-joint snake robot is established through coordinate transformation. The adaptive trajectory tracking controller replaces unknown parameters in the environment wi t h estimated values, which effectively solves the negative effects caused by uncertain and time-varying environmental parameters in the process of the robot movement and realizes the stability of the controller. To study the trajectory tracking problem of a multi-joint snake robot with high redundancy and multi-degree of freedom in the plane, an adaptive trajectory tracking controller of a multi-joint snake robot considering non-holonomic constraints is proposed in this paper. Multi-joint snake robot is a vital reconnaissance, surveillance and attack weapon in national defence and military in the future. The review also outlines emerging application areas and potential future directions of snake robots. Finally, control algorithms for variant terrain contours and obstacle avoidance are discussed. This is followed by the mechanical structure of snake robots, especially the structure of elemental snake modules. First, a review on the snake motion and the body structure is provided, which outlines the biological foundation of all snake robots. This review will attempt to address both.
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Modular structure and real-time control algorithms are two key aspects for snake robots operating in constrained environments. Current research on snake robots is mainly focused on snake-like locomotion and the embodiment of these motion gaits for different applications.
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They have extensive applications in tasks such as rescue, disaster recovery, inspection and minimally invasive surgery. Snake robots have advantages of terrain adaptability over wheeled mobile robots and traditional articulated robot arms because of their limbless thin body structure and high flexibility.