Detail publikace

Control of 3-Link Robotic Snake Based on Conformal Geometric Algebra

HRDINA, J. VAŠÍK, P. NÁVRAT, A.

Anglický název

Control of 3-Link Robotic Snake Based on Conformal Geometric Algebra

Typ

článek v časopise ve Web of Science, Jimp

Jazyk

en

Originální abstrakt

Local controllability of a three link robotic snake is solved by means of 5D conformal geometric algebra. The non-holonomic kinematic equations are assembled, their role in the geometric control theory is discussed and the control solution is found. The functionality is demonstrated on a virtual model in CLUCalc programme. Finally, the snake robot dynamics is elaborated.

Anglický abstrakt

Local controllability of a three link robotic snake is solved by means of 5D conformal geometric algebra. The non-holonomic kinematic equations are assembled, their role in the geometric control theory is discussed and the control solution is found. The functionality is demonstrated on a virtual model in CLUCalc programme. Finally, the snake robot dynamics is elaborated.

Klíčová slova anglicky

Conformal geometric algebraClifford algebraMathematics roboticNonholonomic mechanicsSnake robotsLocal controllabilityBionics

Vydáno

26.08.2016

Nakladatel

Springer Basel AG

Místo

Basel, Switzerland

ISSN

0188-7009

Ročník

26

Číslo

3

Strany od–do

1069–1080

Počet stran

12

BIBTEX


@article{BUT127532,
  author="Jaroslav {Hrdina} and Petr {Vašík} and Aleš {Návrat},
  title="Control of 3-Link Robotic Snake Based on Conformal Geometric Algebra",
  year="2016",
  volume="26",
  number="3",
  month="August",
  pages="1069--1080",
  publisher="Springer Basel AG",
  address="Basel, Switzerland",
  issn="0188-7009"
}