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A recursive approach for analysis of snake robots using Kane's equations

Tavakoli Nia, H ; Sharif University of Technology | 2005

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  1. Type of Document: Article
  2. Publisher: 2005
  3. Abstract:
  4. This paper presents a recursive approach for solving kinematic and dynamic problem in snake-like robots using Kane's equations. An n-link model with n-nonholonomic constraints is used as the snake robot model in our analysis. The proposed algorithm which is used to derive kinematic and dynamic equations recursively enhances the computational efficiency of our analysis. Using this method we can determine the number of additions and multiplications as a function of n. The proposed method is compared with the Lagrange and Newton-Euler's method in three different aspects: Number of operations, CPU time and error in the computational procedures. Copyright © 2005 by ASME
  5. Keywords:
  6. Computational methods ; Kinematics ; Mathematical operators ; Problem solving ; Computational procedures ; Newton-Euler's method ; Nonholonomic constraints ; Robots
  7. Source: DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA, 24 September 2005 through 28 September 2005 ; Volume 7 B , 2005 , Pages 855-861 ; 0791847446 (ISBN)
  8. URL: https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2005/47446/855/314895