The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 29-395
Full Name: Rudra Prasad Chatterjee
Position: Researcher
Age: ON
Sex: Male
Address: Electronics and Instrumentation Group,Central Mechanical Engeering Research Institute, Durgapur, West Bengal- 713209
Country: INDIA
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E-mail address: r_chatterjee@cmeri.res.in
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Title of the Paper: Active Chord Mechanism (ACM) Controller for Biologically Inspired Robots Designed with Frequency Response Approach
Authors as they appear in the Paper: Anubhuti Saha,R P Chatterjee,Sarbari Datta
Email addresses of all the authors: anubhuti_87@yahoo.co.in, r_chatterjee@cmeri.res.in, sdatta@cmeri.res.in
Number of paper pages: 13
Abstract: Multi-segmented robots earn some basic advantages of assembling and disassembling of their body parts and different types of movement in a single body structure. Snake robots can manifolds four types of motion in the surface level using different transfer function. The main task is to derive the transfer function of each segment that can control the snake body to navigate with active chord mechanism. Lead compensators are subject to improve the speed of response of the snake body while lag compensators optimize its errors in deviation while obstacle avoidance. A composite of lag-lead compensator is discussed and examined for SUPRA Institutional Serpentine robot to be employed in a coal mine for disaster management. The side winding movement is taken into consideration and wireless control of snake robot is a matter of importance. This paper holds a discussion over the controller design procedure using frequency response approach and shows a comparison between the l!
ead-lag and only lag compensators with their transient and impulse responses. Finally results are shown to support the stability analysis of the designed control system.
Keywords: ACM, snake robot, frequency domain approach, lag-lead compensator
EXTENSION of the file: .doc
Special (Invited) Session: Motion Control of Snake Robot by Lead-Lag Compensator Designed with Frequency Domain Approach
Organizer of the Session: 613-089
How Did you learn about congress: Dr. S Majumder, sjm@cmeri.res.in
IP ADDRESS: 210.212.5.66
