Algorithm Improvement Proposal to Solve the Direct Kinematics of a 10 Degrees of Freedom Snake Robot

Abstract

Morphological structure of Snake Robots, represents an advantage related to displacement on irregular surfaces. Researches on this kind of robots are in purpose to use them in tasks related to inspection in pipelines, danger zones or find people trapped in earthquakes. In this way, we propose an improvement of the locomotion algorithm, with respect to past works, employing a different strategy that reduce the computational cost to solve the Direct Kinematics Problem, we present a proposal of a mathematical model and its simulation. Analyzing results with the new algorithm and conclusions