Detail publikačního výsledku

Geometric Control of the Trident Snake Robot Based on CGA

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

Originální název

Geometric Control of the Trident Snake Robot Based on CGA

Anglický název

Geometric Control of the Trident Snake Robot Based on CGA

Druh

Článek WoS

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

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

Klíčová slova v angličtině

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

Autoři

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

Rok RIV

2018

Vydáno

03.03.2017

Nakladatel

Springer Basel AG

Místo

Basel, Switzerland

ISSN

0188-7009

Periodikum

Advances in Applied Clifford Algebras

Svazek

27

Číslo

1

Stát

Švýcarská konfederace

Strany od

633

Strany do

645

Strany počet

12

URL

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

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"
}