Publication detail

Control of the trident square robot

NÁVRAT, A. KUBIENA, J.

Czech title

Teorie řízení čtercového trident robota

English title

Control of the trident square robot

Type

journal article in Scopus

Language

en

Original abstract

The trident square robot is a modification of the trident snake robot, a well known nonholonomic mechanism. By means of the geometric control theory, we discuss its kinematics, local controllability and then we propose a motion planning algorithm.

Czech abstract

Čtvercový trident robot je modifikace trident hadího robota, známého nonholonomního mechanismu. Prostřednictvím geometrické teotie řízení budeme diskutovat její kinematiku, lokální ovladatelnost a pak navrhujeme algoritmus pro plánování pohybu.

English abstract

The trident square robot is a modification of the trident snake robot, a well known nonholonomic mechanism. By means of the geometric control theory, we discuss its kinematics, local controllability and then we propose a motion planning algorithm.

Keywords in English

Trident snake robot, nonholonomic system,pfaffian constraints, Lie bracket, nonintegrable distribution, geometric control

RIV year

2015

Released

19.06.2015

ISSN

1803-3814

Volume

2015

Number

6

Pages from–to

115–120

Pages count

6

BIBTEX


@article{BUT121723,
  author="Aleš {Návrat} and Jaromír {Kubiena},
  title="Control of the trident square robot",
  year="2015",
  volume="2015",
  number="6",
  month="June",
  pages="115--120",
  issn="1803-3814"
}