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Trident Snake Control Based on Conformal Geometric Algebra

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Mendel 2015 (ICSC-MENDEL 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 378))

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Abstract

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.

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Author information

Authors and Affiliations

  1. Faculty of Mechanical Engineering, Department of Algebra and Discrete Mathematics, Brno University of Technology, Technická 2896/2, 616 69, Brno, Czech Republic

    Aleš Návrat

  2. Faculty of Mechanical Engineering, Department of Applied Computer Science, Brno University of Technology, Technická 2896/2, 616 69, Brno, Czech Republic

    Radomil Matoušek

Authors
  1. Aleš Návrat
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  2. Radomil Matoušek
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Corresponding author

Correspondence to Aleš Návrat .

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Editors and Affiliations

  1. Faculty of Mechanical Engineering, Department of Applied Computer Science, Brno University of Technology, Brno, Czech Republic

    Radek Matoušek

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Návrat, A., Matoušek, R. (2015). Trident Snake Control Based on Conformal Geometric Algebra. In: Matoušek, R. (eds) Mendel 2015. ICSC-MENDEL 2016. Advances in Intelligent Systems and Computing, vol 378. Springer, Cham. https://doi.org/10.1007/978-3-319-19824-8_31

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  • DOI: https://doi.org/10.1007/978-3-319-19824-8_31

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-19823-1

  • Online ISBN: 978-3-319-19824-8

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