—This paper investigates the possibility to model and implement a three-link snake robot in Matla... more —This paper investigates the possibility to model and implement a three-link snake robot in Matlab & Simulink. The snake locomotion is based on the friction between its body with the surface using the so called serpenoid curves. The proposed control law is designed in joint space using a proportional-derivative (PD) controller applied to the error obtained from the snake joints. The simulation results validate the possibility to implement a three-link snake robot using the suggested control strategy.
The following slides show some of the methods used in visual servoing for robot manipulators such... more The following slides show some of the methods used in visual servoing for robot manipulators such as Image-Based Visual Servo (IBVS) and Position-Based Visual Servo (PBVS).
Report from Modelling in Robotics course. Information about KUKA youBot kinematic equations along... more Report from Modelling in Robotics course. Information about KUKA youBot kinematic equations along with the implementation in Simulink is provided. This document pretends to give an idea on how such system should be modeled and a possible implementation.
—This paper investigates the possibility to model and implement a three-link snake robot in Matla... more —This paper investigates the possibility to model and implement a three-link snake robot in Matlab & Simulink. The snake locomotion is based on the friction between its body with the surface using the so called serpenoid curves. The proposed control law is designed in joint space using a proportional-derivative (PD) controller applied to the error obtained from the snake joints. The simulation results validate the possibility to implement a three-link snake robot using the suggested control strategy.
The following slides show some of the methods used in visual servoing for robot manipulators such... more The following slides show some of the methods used in visual servoing for robot manipulators such as Image-Based Visual Servo (IBVS) and Position-Based Visual Servo (PBVS).
Report from Modelling in Robotics course. Information about KUKA youBot kinematic equations along... more Report from Modelling in Robotics course. Information about KUKA youBot kinematic equations along with the implementation in Simulink is provided. This document pretends to give an idea on how such system should be modeled and a possible implementation.
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