Detail publikace

Local controllability of trident snake robot based on sub-Riemannian extremals

HRDINA, J.

Anglický název

Local controllability of trident snake robot based on sub-Riemannian extremals

Typ

Článek WoS

Jazyk

en

Originální abstrakt

To solve trident snake robot local controllability by differential geometry tools, we construct a privileged system of coordinates with respect to the distribution given by Pffaf system based on local nonholonomic conditions and, furthermore, we construct a nilpotent approximation of the transformed distribution with respect to the given filtration. We compute normal extremals of sub-Riemanian structure, where the Hamiltonian point of view was used. We demonstrated that the extremals of sub-Riemannian structure based on this distribution play the similar role as classical periodic imputs in control theory with respect of our mechanism.

Klíčová slova anglicky

local controllability; nonholonomic mechanics; planar mechanisms; sub–Riemannian geometry; differential geometry

Vydáno

2017-05-24

Nakladatel

Universit`a del Salento

Místo

Salento

ISSN

1123-2536

Ročník

37

Číslo

suppl. 1

Strany od–do

93–102

Počet stran

10

BIBTEX


@article{BUT136070,
  author="Jaroslav {Hrdina}",
  title="Local controllability of trident snake robot based on sub-Riemannian extremals",
  journal="Note di Matematica",
  year="2017",
  volume="37",
  number="suppl. 1",
  pages="93--102",
  doi="10.1285/i15900932v37supp11p93",
  issn="1123-2536",
  url="http://siba-ese.unisalento.it/index.php/notemat/article/view/17176"
}