Original title: Geometrické řízení neholonomních systémů
Translated title: Geometric control of nonholonomic systems
Authors: Ramasubramaniyan, Sri Ram Prasath ; Vašík, Petr (referee) ; Návrat, Aleš (advisor)
Document type: Master’s theses
Year: 2023
Language: eng
Publisher: Vysoké učení technické v Brně. Fakulta strojního inženýrství
Abstract: This thesis focuses on a mathematical model for a three-body space robot with the objective of reconfiguring its structure using only internal joint torques. The aim is to minimize fuel consumption and achieve efficient reconfiguration without relying on external actuators. The system exhibits one holonomic and non-holonomic constraint, making the analysis and control design challenging. To address the complexity of the non-holonomic system, the local behavior is studied through the nilpotent approximation. The thesis emphasizes understanding the nilpotent approximation and constructing the nilpotent system of the space robot using algebraic coordinates, along with transforming them into exponential coordinates within the Maple environment.
Keywords: Algebraic Coordinates; Exponential Coordinates.; Nilpotent Approximation; Nilpotent System; Non-Holonomic System; Three-body Space Robot; Algebraic Coordinates; Exponential Coordinates.; Nilpotent Approximation; Nilpotent System; Non-Holonomic System; Three-body Space 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/11012/212424

Permalink: http://www.nusl.cz/ntk/nusl-530673


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Universities and colleges > Public universities > Brno University of Technology
Academic theses (ETDs) > Master’s theses