Control Modeling and Motion Simulation of a Serpentine Robot Based on an Ultra-Local Model

Inspired by the unique locomotion capabilities of biological snakes, serpentine robots (SLRs) have garnered significant attention in robotics research due to their flexibility, adaptability, and potential for navigation in complex environments. This paper discusses the control modeling and motion simulation of a serpentine robot based on an ultra-local model. Given the widespread applications of serpentine robots across various fields, there is an increasing demand for enhanced motion control accuracy in bioinspired serpentine robot design. We first establish a three-dimensional model of the serpentine robot in SolidWorks, making specific assumptions and definitions regarding its joint physical parameters. Subsequently, we analyze the kinematics of a nine-joint serpentine robot and develop a corresponding dynamic model aimed at improving the robot's autonomy and adaptability. This paper introduces the construction of an ultra-local model, which is particularly suitable for complex serpentine robot motion control, along with the design of corresponding control laws. Additionally, we conduct a series of simulation studies and structural optimizations, establishing communication based on the Modbus TCP protocol to further verify the control performance. Finally, motion posture simulations are successfully implemented in the SIEMENS NX environment.