Path Tracking of a Cable-Driven Snake Robot With a Two-Level Motion Planning Method

Volume: 24, Issue: 3, Pages: 935 - 946
Published: Jun 1, 2019
Abstract
Due to high degree of freedoms (DOFs), motion planning of the cable-driven snake robot is challenging and usually tackled by the iterative Jacobian-based method. This iterative method adopts discontinuous velocity and tolerance to determine intermediate poses, which deteriorate the tracking performance of robots. In this paper, a two-level motion planning method is proposed to schedule the motion of cable-driven snake robot owning a...
Paper Details
Title
Path Tracking of a Cable-Driven Snake Robot With a Two-Level Motion Planning Method
Published Date
Jun 1, 2019
Volume
24
Issue
3
Pages
935 - 946
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