Dynamic Model And Optimal Control Of A Snake Robot TAROBOT 1

Abstract In this study a model of snake robot is created and its dynamic modeling and control of a passive wheel planar is observed and studied. The main purpose of this work is to perform a corresponding movement in a stable condition with respect to the actual effect of environmental conditions. Serpanodial motion of the real snakes is studied to determine the control of the robot. Holonomic constraints of the system is taken into the consideration to obtain the robots kinematics and dynamics equations. By using obtained dynamic equations the model of the system is created in MATLABSIMULINK. The simulation studies showing performance of the system are performed by determining the control parameters of the system with Fuzzy and the Genetic Algorithm GA and controlling FUZZY PID GA-PID and PID control. The system control parameters are determined by FUZZY PID GA-PID and PID control the performance of the system by simulation studies have been performed. In addition the dynamic motion simulations are carried out for obtaining data and experience before the experimental studies. Graphical results obtained are compared with the results of conventional PID control method applied to the system and the results are analyzed. Consequently the computer simulations are shown that the suggested control methods are make the system control accomplished