Forward kinematics of a snake robot

[chaker]

i want to build a forward kinematic model of a snake robot, to find its end-effector position

am already worked on a few robotic arms like puma 560 using the DH table
so i tried using the DH table on the snake robot, but it seemed wrong, so how do i do it ?

the snake robot is similar to the picture below

 

[Baluncore]

Welcome to PF.
How many segments do you use ?
What mode of movement do you model ?
What degree of freedom do the joints have ?
On a flat surface a snake moves by lifting loops from the surface, then passing the loops forwards.

 

[chaker]

Welcome to PF.
How many segments do you use ?
What mode of movement do you model ?
What degree of freedom do the joints have ?
On a flat surface a snake moves by lifting loops from the surface, then passing the loops forwards.

these are the parameters i have
also i only worked on simple articulated robotic arms so i have no idea about this kind of robots and am trying to learn it
the example am working on is from an article called "The Redesigned Serpens, a Low-Cost, Highly Compliant Snake Robot " which can be found as pdf on google

 

[Baluncore]

First understand two of the ways that a 1 DoF model snake travels.
1. With hinge pins vertical, it “swims”, by pushing on fixed things in the environment, or:
2. With hinge pins horizontal, it lifts a 3 segment loop at the tail, so tip of the tail comes forwards, then that loop travels forwards like a ripple along the snake.
In both cases, if it has sufficient segments there can be several push points or active loops.
How can a square section snake, with a 1 DoF hinge, roll on it's side ?
Will your "kinematic model" be in software or hardware ?
Do you have a simulator ?
Have you watched snakes moving in different environments ?

 

[chaker]

am working on MATLAB with peter corke robotic toolbox
i wanted to start with simple movement.

 

[Baluncore]

Here are the basic methods of moving.

You need to consider what degrees of freedom you require to make a simple but useful movement.

 

[vignesh_s]

Hi baluncore. I am Vignesh. How can I contact you

 

[Baluncore]

Welcome to PF.
Look in your private conversations.