Publication detail

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

HRDINA, J. VAŠÍK, P. NÁVRAT, A.

Original Title

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

English Title

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

Type

journal article in Web of Science

Language

en

Original Abstract

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.

English abstract

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.

Keywords

Conformal geometric algebraClifford algebraMathematics roboticNonholonomic mechanicsSnake robotsLocal controllabilityBionics

Released

26.08.2016

Publisher

Springer Basel AG

Location

Basel, Switzerland

Pages from

1069

Pages to

1080

Pages count

12

Documents

BibTex


@article{BUT127532,
  author="Jaroslav {Hrdina} and Petr {Vašík} and Aleš {Návrat}",
  title="Control of 3-Link Robotic Snake Based on Conformal Geometric Algebra",
  annote="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.",
  address="Springer Basel AG",
  chapter="127532",
  doi="10.1007/s00006-015-0621-2",
  howpublished="print",
  institution="Springer Basel AG",
  number="3",
  volume="26",
  year="2016",
  month="august",
  pages="1069--1080",
  publisher="Springer Basel AG",
  type="journal article in Web of Science"
}