Detail publikačního výsledku

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

HRDINA, J.; VAŠÍK, P.; NÁVRAT, A.

Originální název

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

Anglický název

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

Druh

Článek WoS

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

Conformal geometric algebraClifford algebraMathematics roboticNonholonomic mechanicsSnake robotsLocal controllabilityBionics

Klíčová slova v angličtině

Conformal geometric algebraClifford algebraMathematics roboticNonholonomic mechanicsSnake robotsLocal controllabilityBionics

Autoři

HRDINA, J.; VAŠÍK, P.; NÁVRAT, A.

Rok RIV

2017

Vydáno

26.08.2016

Nakladatel

Springer Basel AG

Místo

Basel, Switzerland

ISSN

0188-7009

Periodikum

Advances in Applied Clifford Algebras

Svazek

26

Číslo

3

Stát

Švýcarská konfederace

Strany od

1069

Strany do

1080

Strany počet

12

Plný text v Digitální knihovně

http://hdl.handle.net/

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"
}