Original title: Geometrické řízení hadům podobných robotů
Translated title: Geometrically controlled snake-like robot model
Authors: Shehadeh, Mhd Ali ; Návrat, Aleš (referee) ; Vašík, Petr (advisor)
Document type: Master’s theses
Year: 2020
Language: eng
Publisher: Vysoké učení technické v Brně. Fakulta strojního inženýrství
Abstract: This master’s thesis describes equations of motion for dynamic model of nonholonomic constrained system, namely the trident robotic snakes. The model is studied in the form of Lagrange's equations and D’Alembert’s principle is applied. Actually this thesis is a continuation of the study going at VUT about the simulations of non-holonomic mechanisms, specifically robotic snakes. The kinematics model was well-examined in the work of of Byrtus, Roman and Vechetová, Jana. So here we provide equations of motion and address the motion planning problem regarding dynamics of the trident snake equipped with active joints through basic examples and propose a feedback linearization algorithm.
Keywords: dynamic model.; Geometric control theory; Lagrangian equations of motion; Lie algebra; motion planning; non-holonomic mechanics; Pfaffian constraints; trident snake robot; dynamic model.; Geometric control theory; Lagrangian equations of motion; Lie algebra; motion planning; non-holonomic mechanics; Pfaffian constraints; trident snake robot

Institution: Brno University of Technology (web)
Document availability information: Fulltext is available in the Brno University of Technology Digital Library.
Original record: http://hdl.handle.net/11012/192344

Permalink: http://www.nusl.cz/ntk/nusl-417115


The record appears in these collections:
Universities and colleges > Public universities > Brno University of Technology
Academic theses (ETDs) > Master’s theses
 Record created 2020-08-02, last modified 2022-09-04


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