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

Tavakoli Nia, H ; Sharif University of Technology | 2006

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  1. Type of Document: Article
  2. DOI: 10.1017/S0263574705002456
  3. Publisher: 2006
  4. Abstract:
  5. This paper presents a recursive approach for solving kinematic and dynamic problems 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. © 2006 Cambridge University Press
  6. Keywords:
  7. Algorithms ; Computational methods ; Error analysis ; Linear equations ; Recursive functions ; Computational efficiency ; Kane's equations ; Nonholonomic constraints ; Snake robot ; Robots
  8. Source: Robotica ; Volume 24, Issue 2 , 2006 , Pages 251-256 ; 02635747 (ISSN)
  9. URL: https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2005/47446/855/314895