Geometric control of the trident snake robot based on CGA. We demonstrate the theory on the 1-link trident snake and the functionality in the CLUCalc software designed for the computations in Clifford algebra. Local control of a general trident snake robot is solved by means of Conformal Geometric Algebra (CGA). It is shown that the model modifications are much easier to handle in this setting. Within this paper, we present an alternative model description only, while all its kinematic properties remain. The equations of the direct and differential kinematics, the Pfaff constraints, the inverse kinematics and the singular postures are discussed and translated into the language of CGA.
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References in zbMATH (referenced in 4 articles )
Showing results 1 to 4 of 4.
- Hrdina, Jaroslav; Návrat, Aleš; Zalabová, Lenka: Symmetries in geometric control theory using Maple (2021)
- Hildenbrand, Dietmar; Hrdina, Jaroslav; Návrat, Aleš; Vašík, Petr: Local controllability of snake robots based on CRA, theory and practice (2020)
- Hrdina, Jaroslav; Zalabová, Lenka: Local geometric control of a certain mechanism with the growth vector ((4,7)) (2020)
- Hrdina, J.; Návrat, A.; Vašík, P.; Matoušek, R.: Geometric control of the trident snake robot based on CGA (2017)