Detail publikačního výsledku

Geometric Control of the Trident Snake Robot Based on CGA

HRDINA, J.; NÁVRAT, A.; VAŠÍK, P.; MATOUŠEK, R.

Original Title

Geometric Control of the Trident Snake Robot Based on CGA

English Title

Geometric Control of the Trident Snake Robot Based on CGA

Type

WoS Article

Original Abstract

We demonstrate the theory on the 1-link trident snake and the functionality in the CLUCalc software designed for the computations in Clifford algebra. Local control of a general trident snake robot is solved by means of conformal geometric algebra. It is shown that the model modifications are much easier to handle in this setting. Within this paper, we present an alternative model description only, while all its kinematic properties remain. The equations of the direct and differential kinematics, the Pfaff constraints, the inverse kinematics and the singular postures are discussed and translated into the language of CGA.

English abstract

We demonstrate the theory on the 1-link trident snake and the functionality in the CLUCalc software designed for the computations in Clifford algebra. Local control of a general trident snake robot is solved by means of conformal geometric algebra. It is shown that the model modifications are much easier to handle in this setting. Within this paper, we present an alternative model description only, while all its kinematic properties remain. The equations of the direct and differential kinematics, the Pfaff constraints, the inverse kinematics and the singular postures are discussed and translated into the language of CGA.

Keywords

Bionics; Conformal geometric algebra; Clifford algebra; Mathematical robotics; Nonholonomic mechanics; Local controllability

Key words in English

Bionics; Conformal geometric algebra; Clifford algebra; Mathematical robotics; Nonholonomic mechanics; Local controllability

Authors

HRDINA, J.; NÁVRAT, A.; VAŠÍK, P.; MATOUŠEK, R.

RIV year

2018

Released

03.03.2017

Publisher

Springer Basel AG

Location

Basel, Switzerland

ISBN

0188-7009

Periodical

Advances in Applied Clifford Algebras

Volume

27

Number

1

State

Swiss Confederation

Pages from

633

Pages to

645

Pages count

12

URL

http://link.springer.com/article/10.1007/s00006-016-0693-7

Full text in the Digital Library

http://hdl.handle.net/

BibTex

@article{BUT134031,
  author="Jaroslav {Hrdina} and Aleš {Návrat} and Petr {Vašík} and Radomil {Matoušek}",
  title="Geometric Control of the Trident Snake Robot Based on CGA",
  journal="Advances in Applied Clifford Algebras",
  year="2017",
  volume="27",
  number="1",
  pages="633--645",
  doi="10.1007/s00006-016-0693-7",
  issn="0188-7009",
  url="http://link.springer.com/article/10.1007/s00006-016-0693-7"
}