Publication detail

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

HRDINA, J. VAŠÍK, P. NÁVRAT, A.

English title

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

Type

WoS Article

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.

Keywords in English

Conformal geometric algebraClifford algebraMathematics roboticNonholonomic mechanicsSnake robotsLocal controllabilityBionics

Released

2016-08-26

Publisher

Springer Basel AG

Location

Basel, Switzerland

ISSN

0188-7009

Journal

Advances in Applied Clifford Algebras

Volume

26

Number

3

Pages from–to

1069–1080

Pages count

12

BIBTEX


@article{BUT127532,
  author="Jaroslav {Hrdina} and Petr {Vašík} and Aleš {Návrat}",
  title="Control of 3-Link Robotic Snake Based on Conformal Geometric Algebra",
  journal="Advances in Applied Clifford Algebras",
  year="2016",
  volume="26",
  number="3",
  pages="1069--1080",
  doi="10.1007/s00006-015-0621-2",
  issn="0188-7009"
}