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

被引：22
|
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
收藏
页码：1069 / 1080
页数：12
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