T he modern industry develops some new application of robots with arms having the ability to do difficult tasks in larger working area. The snake robots are developed recently in the same conditions. One of the most general specifications of the snake robots is redundancy which is used to optimize some special parameters or to do some special duty. Most of snake robots have to work on difficult and sometimes unknown areas so the controller different with the time base controllers should be designed. In this researc we present an approach to geometrical position control of the head point of hyper redundant snake robot to the desired position. The snake robot is considered as redundant robot. The dynamic model is decoupled and linearized. In path designation a search method is used to optimize some parameters such as kinetic energy, time integral of kinetic energy, work of actuators for doing the task and time of passing a certain part of the path. In the time base control the error function is computed from position of the robot to a desired target line and a PID control unit is designed to minimize the error by varying a parameter of the serpenoied curve. Using the event-base planning and control method and the path optimization, a task level action control is designed and online kinematic redundancy resolution scheme is developed. The system is stable during normal operation as well as at the occurrence of unexpected obstacles and system uncertainty. In addition a central pattern generator is used to develop the angle of links referring to the first link angle. The approaches have been simulated on a 15 DOF snake like robot to arrest a moving target point. Also some kinematic approaches to 8 2 DOF robots are simulated and compared to each other.
