Publication detail

Local controllability of trident snake robot based on sub-Riemannian extremals

HRDINA, J.

Original Title

Local controllability of trident snake robot based on sub-Riemannian extremals

Type

journal article in Web of Science

Language

English

Original Abstract

To solve trident snake robot local controllability by differential geometry tools, we construct a privileged system of coordinates with respect to the distribution given by Pffaf system based on local nonholonomic conditions and, furthermore, we construct a nilpotent approximation of the transformed distribution with respect to the given filtration. We compute normal extremals of sub-Riemanian structure, where the Hamiltonian point of view was used. We demonstrated that the extremals of sub-Riemannian structure based on this distribution play the similar role as classical periodic imputs in control theory with respect of our mechanism.

Keywords

local controllability; nonholonomic mechanics; planar mechanisms; sub–Riemannian geometry; differential geometry

Authors

HRDINA, J.

Released

24. 5. 2017

Publisher

Universit`a del Salento

Location

Salento

ISBN

1123-2536

Periodical

Note di Matematica

Year of study

37

Number

suppl. 1

State

Republic of Italy

Pages from

93

Pages to

102

Pages count

10

URL

http://siba-ese.unisalento.it/index.php/notemat/article/view/17176

Full text in the Digital Library

http://hdl.handle.net/11012/69390

BibTex

@article{BUT136070,
  author="Jaroslav {Hrdina}",
  title="Local controllability of trident snake robot based on sub-Riemannian extremals",
  journal="Note di Matematica",
  year="2017",
  volume="37",
  number="suppl. 1",
  pages="93--102",
  doi="10.1285/i15900932v37supp11p93",
  issn="1123-2536",
  url="http://siba-ese.unisalento.it/index.php/notemat/article/view/17176"
}