Path following control of planar snake robots using virtual holonomic constraints: theory and experiments

• DOI: 10.1186/s40638-014-0003-6
• Publication Date: 2014-08-28T10:41:06Z
• Authors: Ehsan Rezapour; Kristin Y Pettersen; Pål Liljebäck; Jan T Gravdahl; Eleni Kelasidi
• Keywords: Holonomic constraints; Holonomic; Configuration space; Manifold (fluid mechanics)

This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based design for the robot, we first derive Euler-Lagrange equations motion system. Subsequently, define geometric relations among generalized coordinates system, method These appropriately defined constraints shape geometry constraint manifold which is submanifold configuration space robot. Furthermore, show that can be made invariant by suitable choice feedback. particular, analytically smooth feedback law exponentially stabilize manifold. We enforcing variables implies robot converges and follows desired path. Numerical simulations experimental results are presented validate theoretical approach.