Control Of A Serpentine Robot For Inspection Tasks

摘要

This paper presents a simple robust kinematic control for the JPL robot system. proposed is den-eloped using the damped-] east-squares/confi.gura.tion methodology, permits the considerable dexterity of the serpentine robot to be effectively for in the and uncertain workspaces en- countered in inspection tasks. Computer simulation results are for the 20 degree-of-freedom (I) OF) manipulator system obtained by mounting the twelve DOF serpentine robot at the of eight Robotics Research arm/lathe-bed system. that the approach provides method of this complex sys- tem. introduction Space platforms, such as Station Freedom, arc and scientific facilities which must operate for extended periods harsh and remote environments. The inspection of such platforms, leading to preventive maintenance as opposed to breakdown repair, is therefore an important task. The Jet Propulsion (J has been involved in a research and development project on Remote Surface Inspection since October 1990 [I]. The ...