Design and Control of Snake-Like Robot for Smooth Terrain


Authors : Lu Mai, Maung Maung Latt, Ohm Mar Win, Kyaw Zin Latt, Maung Aye

Volume/Issue : Volume 4 - 2019, Issue 7 - July

Google Scholar : https://goo.gl/DF9R4u

Scribd : https://bit.ly/2ZLSY5A

Abstract : The improvement of rescue robots has been vigorously in perilous surroundings for investigate and rescue processes. The secure genus of mobile robots is called snake-like robot. In this work, the frame design of snake-like robot model has been accomplished based on the control function with mathematical geometry. The tracking path for snake-like robot was established with the circular path. And then the estimation between the actual tracking and original path could be analysed with the help of MATLAB programming. In this paper, the robot head position is controlled to converge the desired trajectory tracking. The tracking error could be reduced by using proportional controller. The enactments of the tracking paths for snake-like robot was expressed with the simulation results.

Keywords : Trajectory Tracking; Snake-Like Robot; Proportional Controller; MATLAB.

The improvement of rescue robots has been vigorously in perilous surroundings for investigate and rescue processes. The secure genus of mobile robots is called snake-like robot. In this work, the frame design of snake-like robot model has been accomplished based on the control function with mathematical geometry. The tracking path for snake-like robot was established with the circular path. And then the estimation between the actual tracking and original path could be analysed with the help of MATLAB programming. In this paper, the robot head position is controlled to converge the desired trajectory tracking. The tracking error could be reduced by using proportional controller. The enactments of the tracking paths for snake-like robot was expressed with the simulation results.

Keywords : Trajectory Tracking; Snake-Like Robot; Proportional Controller; MATLAB.

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