Realization of Crowded Pipes Climbing Locomotion of Snake Robot Using Hybrid Force–Position Control Method
Abstract
:1. Introduction
2. Model Design
2.1. Snake Robot Model Design
2.2. Environment Model Design
3. Control Methods
3.1. Nominal Hybrid Force–Position Control for Crowded Pipes
3.1.1. Definition of Nominal Position
3.1.2. Definition of Nominal Torques at Different Positions
3.2. Closed-Loop Control of Hybrid Force–Position Control
3.2.1. Force-Based Impedance Control
3.2.2. Position-Based Admittance Control
3.2.3. Impedance/Admittance Ratio Factor r
4. Experiments
4.1. Experimental Equipment
4.2. Controller Setting
4.3. Experimental Results
- The pure position control.
- The admittance control ().
- The impedance control ().
- The hybrid impedance/admittance control ().
5. Conclusions and Future Work
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
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Desired output torque | M | Inertia matrix for impedance control | |
B | Damping matrix for impedance control | K | Stiffness matrix for impedance control |
Nominal output torque | Final system output torque | ||
P | Present angle | Present angular velocity | |
Present angle acceleration | r | Impedance/admittance ratio factor | |
Desired output angle | Desired output angle velocity | ||
Desired output acceleration | Inertia matrix for impedance control | ||
Damping matrix for impedance control | Stiffness matrix for impedance control | ||
Nominal output angle | Final system output angle | ||
Total torque | External torque | ||
Friction torque |
n | 12 | ||
L | |||
m | |||
p | 10 | ||
M | |||
B | |||
K | |||
I | G | ||
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Wang, Y.; Kamegawa, T. Realization of Crowded Pipes Climbing Locomotion of Snake Robot Using Hybrid Force–Position Control Method. Sensors 2022, 22, 9016. https://doi.org/10.3390/s22229016
Wang Y, Kamegawa T. Realization of Crowded Pipes Climbing Locomotion of Snake Robot Using Hybrid Force–Position Control Method. Sensors. 2022; 22(22):9016. https://doi.org/10.3390/s22229016
Chicago/Turabian StyleWang, Yongdong, and Tetsushi Kamegawa. 2022. "Realization of Crowded Pipes Climbing Locomotion of Snake Robot Using Hybrid Force–Position Control Method" Sensors 22, no. 22: 9016. https://doi.org/10.3390/s22229016