The Improved Approximation Method of the Snake Robot Based on RMF

The hyper-redundant robot is usually controlled by approximating the backbone curve. So an approximation method with high efficiency and precision is a key problem. Then an approximation method based on the rotation minimizing frame (RMF) for the planar backbone curve is proposed. It has higher computation efficiency and a smaller global approximation error than the traditional approximation method based on the integration of the curvature of the backbone curve. For comparing the computation efficiency, the proposed method and the traditional method are compared by analyzing their operation numbers in the theory. At last, the numeric computation experiments validate that the proposed method has a better performance.