Detail publikačního výsledku

Control of the trident square robot

NÁVRAT, A.; KUBIENA, J.

Originální název

Control of the trident square robot

Anglický název

Control of the trident square robot

Druh

Článek Scopus

Originální abstrakt

The trident square robot is a modification of the trident snake robot, a well known nonholonomic mechanism. By means of the geometric control theory, we discuss its kinematics, local controllability and then we propose a motion planning algorithm.

Anglický abstrakt

The trident square robot is a modification of the trident snake robot, a well known nonholonomic mechanism. By means of the geometric control theory, we discuss its kinematics, local controllability and then we propose a motion planning algorithm.

Klíčová slova

Trident snake robot, nonholonomic system,pfaffian constraints, Lie bracket, nonintegrable distribution, geometric control

Klíčová slova v angličtině

Trident snake robot, nonholonomic system,pfaffian constraints, Lie bracket, nonintegrable distribution, geometric control

Autoři

NÁVRAT, A.; KUBIENA, J.

Rok RIV

2016

Vydáno

19.06.2015

ISSN

1803-3814

Periodikum

Mendel Journal series

Svazek

2015

Číslo

6

Stát

Česká republika

Strany od

115

Strany do

120

Strany počet

6

BibTex

@article{BUT121723,
  author="Aleš {Návrat} and Jaromír {Kubiena}",
  title="Control of the trident square robot",
  journal="Mendel Journal series",
  year="2015",
  volume="2015",
  number="6",
  pages="115--120",
  issn="1803-3814"
}