For MATLAB Innovation and Excellence
Problem Objective: Make a simscape model of the snake robot using the different control approaches.
Task-1: Design of multi-link structure of the snake robot.
Task-2: Define the reference coordinates.
Task-3: Design joint controller.
Task-4: Design a head controller to make the robot path follow.
To run the code first run "Parameters_Robot_control.mlx" and then "Snake_Robot_Head_Control.slx".
"Snake_Robot_Head_Control_v1.slx" contains the knob that is used for given reference input by the user.
Required Software: MATLAB 2023a with Simulink and Simscape
Contribution:
In this work, the multi-link snake robot is developed and the head tracking of the snake robot is done. The head tracking means that the head of the robot follows the given reference path and the entire robot follows the head link due to holonomic constraints.
Acknowledgement:
I am thankful to Dr. Roberto G. Valenti for continuing support and discussion on the improvement of the snake robot control scheme and Dr. Monalisa Pal to introduce this amazing project. I am also thankful to my supervisor Prof. Santosha K. Dwivedy who always encourages me to do new challenges and how to deal with failure.
The comments for the improvement are welcome.
Contact: Bhavik M. Patel ([email protected]; [email protected]).
The following references are used for the modelling and motion control of the snake robot.
References:
- Kohl, A. M., Kelasidi, E., Mohammadi, A., Maggiore, M., & Pettersen, K. Y. (2016). Planar maneuvering control of underwater snake robots using virtual holonomic constraints. Bioinspiration & biomimetics, 11(6), 065005.
- Mohammadi, A., Rezapour, E., Maggiore, M., & Pettersen, K. Y. (2015). Maneuvering control of planar snake robots using virtual holonomic constraints. IEEE Transactions on Control Systems Technology, 24(3), 884-899.
- Mukherjee, J., Mukherjee, S., & Kar, I. N. (2017). Sliding mode control of planar snake robot with uncertainty using virtual holonomic constraints. IEEE Robotics and Automation Letters, 2(2), 1077-1084.
- Patel, B. M., & Dwivedy, S. K. (2023). Virtual holonomic constraints based super twisting sliding mode control for motion control of planar snake robot in the uncertain underwater environment. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 09596518231153253.
