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Control of a Serpentine Robot for Inspection TasksThis paper presents a simple and robust kinematic control scheme for the JPL serpentine robot system. The proposed strategy is developed using the dampened-least-squares/configuration control methodology, and permits the considerable dexterity of the JPL serpentine robot to be effectively utilized for maneuvering in the congested and uncertain workspaces often encountered in inspection tasks. Computer simulation results are given for the 20 degree-of-freedom (DOF) manipulator system obtained by mounting the twelve DOF serpentine robot at the end-effector of an eight DOF Robotics Research arm/lathe-bed system. These simulations demonstrate that the proposed approach provides an effective method of controlling this complex system.
Document ID
20060038153
Acquisition Source
Jet Propulsion Laboratory
Document Type
Preprint (Draft being sent to journal)
External Source(s)
Authors
Colbaugh, R.
Glass, K.
Seraji, H.
Date Acquired
August 23, 2013
Publication Date
August 15, 1994
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Distribution Limits
Public
Copyright
Other
Keywords
robotics simulations kinematic control serpentine robot configuration control
dampened-least-squares dexterity inspection tasks end-effector maneuverability

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