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
收藏
页码：375 / 385
页数：11
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