Escolar Documentos
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1. Introduction
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1.2 Concertina
Sequential folding and unfolding of the body using
differences in static and dynamic friction along
different parts of the body. When extending the front
section i.e. during unfolding, the snake reaches forward
a distance, while the back sections remain stationary
providing a foundation for the moving section.
Whereas during folding the front sections provide the
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we get,
dT ( s)
( s )ds
ds
0
Ft =
Fn =
(3)
dT ( s )
ds
ds
(4)
Ti
s
(2)
fi =
i
s
Pi = Ti
(1)
Or,
P(s) = T ( s )
Where,
(s) =
d i
dt
(5)
d ( s )
v
ds
2 K n
2 K n
sin
s
L
L
(6)
(7)
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( ) sin
(8)
(1) m 1 J 2 m ( )
(2m 1)s
sin
l
2m 1
(9)
x(s) = s J o (+
y(s) =
4l
m 1
4l
m 1 2 m
(11)
angle = 360
total no. of segments
1m
m 1
m!(n + m + 1) 2
2m
(10)
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0 . 06802
5 . 08
+ 3 . 453 s
+ 7 . 338 s
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Tabble-2 A Comparison between the Transfer Functions of Each Segment designed for Lag and Lag-lead Compensation Technique
e 0.333s *
12.36 s + 1.743
104s2 + 208.7s + 104.5
0.333 s
e
*
0.06802s5 + 3.818s4 + 25.94s3 + 146.9s2 + 216.1s + 104.5
0.06802 s 4 + 3.454 s 3 + 7.396 s 2 + 12.49 s + 1.743
e 0.667 s *
12.36 s + 1.743
104 s 2 + 208 .7 s + 104 .5
0 .667 s
e
*
0 .06802 s 5 + 3 .818 s 4 + 25 .94 s 3 + 146 .9 s 2 + 216 .1s + 104 .5
0.06802 s 4 + 3.454 s 3 + 7.396 s 2 + 12.49 s + 1.743
e 1s *
12.36 s + 1.743
4
0.06802 s + 3.454 s 3 + 7.396 s 2 + 12.49 s + 1.743
e 1 s *
H(1)
H(1)
1.5
1.0
Amplitude
0.5
0.0
10
100
1000
Time
1.5
10
100
1000
Time
H(2)
H(2)
1.0
Amplitude
Lag-Lead Compensation
12.36 s + 1.743
4
0.06802 s + 3.454 s 3 + 7.396 s 2 + 12.49 s + 1.743
Amplitude
Lag Compensation
Amplitude
Se
gm
ent
1
0.5
0.0
-1
10
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Time
1000
321
10
100
Time
1000
H(3)
H(3)
Amplitude
Amplitude
0
0
-1
1
10
100
1000
10
100
1000
Time
Time
H(4)
H(4)
Amplitude
Amplitude
0
0
10
100
1000
10
100
Time
Time
Fig. 4 Comparison between the Impulse Responses of Individual Segment for a 4-Segemented Serpentine Robot
Designed with Lag and Lag-Lead Compensation Technique
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1000
Step Response
1.4
1.2
System: Gcomp
Time (sec): 1.97
Amplitude: 1.22
Amplitude
0.8
0.6
0.4
0.2
10
12
14
16
18
Time (sec)
(a)
Step Response
1.4
1.2
System: Gcomp
Time (sec): 0.64
Amplitude: 1.22
Amplitude
0.8
0.6
0.4
0.2
0.5
1.5
2.5
3.5
4.5
Time (sec)
(b)
Fig. 5 (a) Step response of lag compensated system (b) Step response of lag lead compensated system
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5. Conclusion:
Thus, from results we infer that the lag-lead
compensator designed using frequency domain
approach compensates the system to a quite good
extent by minimizing the steady state error and by
giving a fast response comparative to the
uncompensated as well as lag compensated system.
Especially the response time is less in comparison to
the lag compensated system designed earlier. And
the phase shifted linear simulation results show the
each joints to be at phase difference to each other
resulting in serpentine motion following serpenoid
curve. The obstacles are easily overcome by
increasing the initial phase of the input signal. The
modular along with the wheeled approach helps to
follow the serpenoid curve using differential friction
with reduced side slipping and incase of any
malfunctioning it can easily be interchanged.
References:
[1] Y. Umetani and S. Hirose, Biomechanical study
of active cord mechanism with tactile sensors,
in Proceedings of the6th international
symposium on industrial robots, Nottingham,
1976, pp. c1-1{c1-10}.
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[22] Amit Gupta, Lateral Undulation of a SnakeLike Robot, Ph.D. thesis, Massachusetts
Institute of Technology, January 2007
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(a)
(b)
Fig. 6 (a) Stability analysis of lag compensated system with Root locus and Bode plot (b) Stability analysis of laglead compensated system with Root locus and Bode plot
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H (1 )
Amplitude
1 .2
H (2 )
1 .0
H (3 )
0 .8
H (4 )
0 .6
0 .4
0 .2
0 .0
-0 .2
1
10
100
1000
T im e
(a)
H (1)
H (2)
Amplitude
H (3)
H (4)
10
100
1000
Time
(b)
Fig. 7 (a) Phase shifted impulse response of the controllers with lag compensation (b) Phase shifted impulse
response of the controllers with lag-lead compensation
12
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Amplitude
0.5
-0.5
-1
-1.5
-6
-4
-2
Time (sec)
(a)
Linear Simulation Results
1.5
Amplitude
0.5
-0.5
-1
-1.5
-6
-4
-2
Time (sec)
(b)
Fig. 8 (a) Linear simulation results of the controllers with lag compensation (b) Linear simulation results of the
controllers with lag-lead compensation
13
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