DOIONLINE

DOIONLINE NO - IJEEDC-IRAJ-DOIONLINE-15673

Publish In
International Journal of Electrical, Electronics and Data Communication (IJEEDC)-IJEEDC
Journal Home
Volume Issue
Issue
Volume-7,Issue-6  ( Jun, 2019 )
Paper Title
Considering the Dynamic Control of Snake Robot and its Stabilization with Constraint Error
Author Name
Lu Mai, Mg Mg Latt, Kyaw Zin Latt
Affilition
Department of Electronic Engineering, Technological University (Myit Kyi Na) Technological University (Taungoo) Department of Electronic Engineering, Mandalay Technological University
Pages
5-9
Abstract
The paper presents the dynamic control of snake robot and its stabilization with constraint error. In this study, there have been two portions for the analyses, the first portion is to consider the dynamic modelling of two link snake robot body and the second one is to check the stability based on the constraint error of the motion of two links and above. The simulation results for Projection onto Feasible Motion Space, Projection onto Constrained Force Space without Constraint Stabilization and Projection onto Constrained Force Space with Constraint Stabilization have been developed based on the X and Y-constraint Violation. The theoretical results say that the stability of snake robot with separated links could be enhanced based on the dynamic control of segmented movements. The simulation results could be carried out by using the MATLAB Language and dynamic body consideration technique. Keywords - Dynamic Control, Snake Robot, Stabilization, Constraint Error, Dynamic Link Modelling.
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