Research on Motion Control System of Modular Snake Robot
In recent years,artificial intelligence technology has been widely applied and developed,among which robotics has made great progress.The snake robot has attracted much attention because of its highly simulated dynamic and kinematic characteristics.In this paper,a snake-like robot with conical teeth drive structure is used as the carrier,STM32 as the controller,and the motion of the robot is controlled by the combination of open loop control and closed-loop control.A control algorithm suitable for flexible motion of the snake robot is proposed by solving the attitude of the device through the position PID control algorithm.
snake robotSTM32position type PID control algorithm
万方数据
维普
