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

被引：23

作者：

Hrdina, Jaroslav ^{[1
]}

Navrat, Ales ^{[1
]}

Vasik, Petr ^{[1
]}

机构：

[1] Brno Univ Technol, Inst Math, Fac Mech Engn, Brno, Czech Republic

来源：

ADVANCES IN APPLIED CLIFFORD ALGEBRAS | 2016年 / 26卷 / 03期

关键词：

Conformal geometric algebra; Clifford algebra; Mathematics robotic; Nonholonomic mechanics; Snake robots; Local controllability; Bionics;

D O I：

10.1007/s00006-015-0621-2

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

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.

引用

页码：1069 / 1080

页数：12

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