Detail publikace

Note on Signature of Trident Mechanisms with Distribution Growth Vector (4,7)

FROLÍK, S.

Anglický název

Note on Signature of Trident Mechanisms with Distribution Growth Vector (4,7)

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

en

Originální abstrakt

We recall some basic concepts of differential geometry and control theory and their application in robotics, namely we describe so called generalized trident snake robot with four control parameters. Indeed, we are working with a model that combines a robotic snake and Doubin car. We determine the controlling distribution and describe its properties. Consequently, we determine the signature corresponding to the mechanisms with four controlling parameters. This is essential for analysis of the underlying algebraic structure and allows us to choose suitable control model.

Anglický abstrakt

We recall some basic concepts of differential geometry and control theory and their application in robotics, namely we describe so called generalized trident snake robot with four control parameters. Indeed, we are working with a model that combines a robotic snake and Doubin car. We determine the controlling distribution and describe its properties. Consequently, we determine the signature corresponding to the mechanisms with four controlling parameters. This is essential for analysis of the underlying algebraic structure and allows us to choose suitable control model.

Klíčová slova anglicky

Non-holonomic system; Trident robot ; Differential geometry ; Signature;

Vydáno

14.04.2019

Nakladatel

Springer Verlag

Místo

Switzerland

ISBN

978-3-030-14983-3

Kniha

Modelling and Simulation for Autonomous Systems. MESAS 2018.

Strany od–do

82–89

Počet stran

8

BIBTEX


@inproceedings{BUT161119,
  author="Stanislav {Frolík} and Jaroslav {Hrdina},
  title="Note on Signature of Trident Mechanisms with Distribution Growth Vector (4,7)",
  booktitle="Modelling and Simulation for Autonomous Systems. MESAS 2018.",
  year="2019",
  month="April",
  pages="82--89",
  publisher="Springer Verlag",
  address="Switzerland",
  isbn="978-3-030-14983-3"
}