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Geodesics
Čambalová, Kateřina ; Tomáš, Jiří (referee) ; Doupovec, Miroslav (advisor)
The goal of the thesis is to create an overivew of geodesics. At the beginning of their study, they were considered shortest paths connecting two points on surfaces. In the thesis we will show more of the complexity of the term and introduced the properties, some uses of the geodesics and methods of their computation. Later, the Clairaut patches and their geodesics will be analysed. Clairaut patches are characterized by a specific property which makes computation of geodesics simpler. 3D plots of some Clairaut patches and their geodesics are also included.
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Finding a mechanism with (4, 7) filtration corresponding to the path geometry
Rajsiglová, Eva ; Zalabová,, Lenka (referee) ; Hrdina, Jaroslav (advisor)
The subject of this Bachelor's thesis is control theory of mechanism, the so-called trident snake robot. From a viewpoint of control theory, it is classified as a nonholonomic system whose controllability is determined by vector fields. In this thesis, input vector fields are obtained from the system of nonholonomic equations. The Lie bracket operation is applied on this vector fields. On the basis of an analysis of the results of the Lie bracket operation, the fulfillment of the definition of the generalized path geometry is verified for the particular models of the trident snake robot. Finally, Hamiltonian function and Christoffel symbols, needed to compile equations of geodesics, are calculated.
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Finding a mechanism with (4, 7) filtration corresponding to the path geometry
Rajsiglová, Eva ; Zalabová,, Lenka (referee) ; Hrdina, Jaroslav (advisor)
The subject of this Bachelor's thesis is control theory of mechanism, the so-called trident snake robot. From a viewpoint of control theory, it is classified as a nonholonomic system whose controllability is determined by vector fields. In this thesis, input vector fields are obtained from the system of nonholonomic equations. The Lie bracket operation is applied on this vector fields. On the basis of an analysis of the results of the Lie bracket operation, the fulfillment of the definition of the generalized path geometry is verified for the particular models of the trident snake robot. Finally, Hamiltonian function and Christoffel symbols, needed to compile equations of geodesics, are calculated.
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|
|
Geodesics
Čambalová, Kateřina ; Tomáš, Jiří (referee) ; Doupovec, Miroslav (advisor)
The goal of the thesis is to create an overivew of geodesics. At the beginning of their study, they were considered shortest paths connecting two points on surfaces. In the thesis we will show more of the complexity of the term and introduced the properties, some uses of the geodesics and methods of their computation. Later, the Clairaut patches and their geodesics will be analysed. Clairaut patches are characterized by a specific property which makes computation of geodesics simpler. 3D plots of some Clairaut patches and their geodesics are also included.
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