Rich Primerano's Course Project
One of the first things I'll work on for this class is developing a physics based model of the robotic snake using ADAMS. The purpose of this is so that I may test several control algorithms, written in MATLAB, and tune their performance using the virtual device rather than a physical robot.
A solid model of the robot is already build in Pro/Engineer and a controller is being written in MATLAB. The initial controller will be a simple PID with each axis decoupled from the others. Although this is not the best approach, It sould be adiquate in the beginning while I work out some bugs. Later, this will likely be replaced with a state feedback controller. Initally, the controller will drive a simulated version of the snake build in a (still undetermined) physics based simulator.
This week, I have familarizes myself with MSC/ADAMS, a program used for developing physics based models. This model could be integrated with a control algorithm so that the controller could be tuned without needing the physical robot. I have begun going through the tutorial at the link below. Later this week. I'll try to import some of the snake segments and build an assembally from them.
The tutorials links below are useful for those interested in learning either of these software packages.