Active cord mechanism (ACM) controller for biologically inspired robots designed with frequency response approach

Authors:
Anubhuti Saha;R. P. Chatterjee;Sarbari Datta
Affiliations:
Electrical and Electronics Department, Sikkim Manipal Institute of Technology, Majitar, Sikkim;Central Mechanical Engineering Research Institute, Durgapur, India;Central Mechanical Engineering Research Institute, Durgapur, India
Venue:
WSEAS Transactions on Systems and Control
Year:
2009

Citing 4
Cited 0

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Abstract

Multi-segmented robots earn some basic advantages of assembling and disassembling of their body parts and different types of movement in a single body structure. Snake robots can manifolds four types of motion in the surface level using different transfer function. The main task is to derive the transfer function of each segment that can control the snake body to navigate with Active Cord Mechanism. Lead compensators are subject to improve the speed of response of the snake body while lag compensators optimize its errors in deviation while obstacle avoidance. A composite of lag-lead compensator is discussed and examined for SUPRA Institutional Serpentine robot to be employed in a coal mine for disaster management. The side winding movement is taken into consideration and wireless control of snake robot is a matter of importance. This paper holds a discussion over the controller design procedure using frequency response approach and shows a comparison between the lead-lag and only lag compensators with their transient and impulse responses. Finally results are shown to support the stability analysis of the designed control system.