Publication result detail

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

HRDINA, J.; VAŠÍK, P.; NÁVRAT, A.

Original Title

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

English Title

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

Type

WoS Article

Original Abstract

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.

English abstract

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.

Keywords

Conformal geometric algebraClifford algebraMathematics roboticNonholonomic mechanicsSnake robotsLocal controllabilityBionics

Key words in English

Conformal geometric algebraClifford algebraMathematics roboticNonholonomic mechanicsSnake robotsLocal controllabilityBionics

Authors

HRDINA, J.; VAŠÍK, P.; NÁVRAT, A.

RIV year

2017

Released

26.08.2016

Publisher

Springer Basel AG

Location

Basel, Switzerland

ISBN

0188-7009

Periodical

Advances in Applied Clifford Algebras

Volume

26

Number

3

State

Swiss Confederation

Pages from

1069

Pages to

1080

Pages count

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",
  journal="Advances in Applied Clifford Algebras",
  year="2016",
  volume="26",
  number="3",
  pages="1069--1080",
  doi="10.1007/s00006-015-0621-2",
  issn="0188-7009"
}