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Manipulability analysis of a snake robot without lateral constraint for head position control
Author(s) -
Ariizumi Ryo,
Tanaka Motoyasu
Publication year - 2020
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.2118
Subject(s) - slipping , control theory (sociology) , isotropy , constraint (computer aided design) , robot , head (geology) , position (finance) , trajectory , point (geometry) , computer science , property (philosophy) , control (management) , engineering , mathematics , artificial intelligence , physics , geometry , structural engineering , geology , finance , quantum mechanics , geomorphology , astronomy , economics , philosophy , epistemology
Two dynamic manipulability criteria of a snake robot with sideways slipping are proposed with the application to head trajectory tracking control in mind. The singular posture, which is crucial in head tracking control, is characterized by the manipulability and examined for families of typical robot shapes. Differences in the singular postures from those of the robot with lateral constraints, which have not been clear in previous studies, are clarified in the analysis. In addition to the examination of local properties using the concept of manipulability, we discuss the effect of isotropic friction as a global property. It is well known that, at least empirically, a snake robot needs anisotropy in friction to move by serpentine locomotion if there are no objects for it to push around. From the point of view of integrability, we show one of the necessary conditions for uncontrollability is satisfied if the friction is isotropic.