Control of 3-Link Robotic Snake Based on Conformal Geometric Algebra
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F16%3APU119978" target="_blank" >RIV/00216305:26210/16:PU119978 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/s00006-015-0621-2" target="_blank" >http://dx.doi.org/10.1007/s00006-015-0621-2</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s00006-015-0621-2" target="_blank" >10.1007/s00006-015-0621-2</a>
Alternative languages
Result language
angličtina
Original language name
Control of 3-Link Robotic Snake Based on Conformal Geometric Algebra
Original language description
Local controllability of a three link robotic snake is solved by means of 5D conformal geometric algebra. The non-holonomic kinematic equations are assembled, their role in the geometric control theory is discussed and the control solution is found. The functionality is demonstrated on a virtual model in CLUCalc programme. Finally, the snake robot dynamics is elaborated.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10101 - Pure mathematics
Result continuities
Project
—
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
ADV APPL CLIFFORD AL
ISSN
0188-7009
e-ISSN
1661-4909
Volume of the periodical
26
Issue of the periodical within the volume
3
Country of publishing house
CH - SWITZERLAND
Number of pages
12
Pages from-to
1069-1080
UT code for WoS article
000387080300012
EID of the result in the Scopus database
2-s2.0-84946780654