Trident Snake Control Based on Conformal Geometric Algebra

被引：6

作者：

Navrat, Ales ^{[1
]}

Matousek, Radomil ^{[2
]}

机构：

[1] Brno Univ Technol, Fac Mech Engn, Dept Algebra & Discrete Math, Tech 2896 2, Brno 61669, Czech Republic

[2] Brno Univ Technol, Fac Mech Engn, Dept Appl Comp Sci, Brno 61669, Czech Republic

来源：

MENDEL 2015: RECENT ADVANCES IN SOFT COMPUTING | 2015年 / 378卷

关键词：

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

D O I：

10.1007/978-3-319-19824-8_31

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Local controllability of a trident snake robot is solved by means of 5D conformal geometric algebra. The non-holonomic kinematic equations are assembled, their property to be a Pfaff system is discussed and the solution is found. The functionality is demonstrated on a virtual model in CLUCalc programme.

引用

页码：375 / 385

页数：11

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