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A Recursive Approach for Analysis of Snake Robots Using Kane’s Equations

[+] Author Affiliations
Hadi Tavakoli Nia, Hossein Nejat Pishkenari, Ali Meghdari

Sharif University of Technology, Tehran, Iran

Paper No. DETC2005-84987, pp. 855-861; 7 pages
doi:10.1115/DETC2005-84987
From:
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME

abstract

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
Topics: Robots , Equations

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