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Nonholonomic mechanisms control Mareček, Tomáš ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor) This thesis deals with a control theory of nonholonomic mechanisms. Examples explaining the application of dierential geometry notions are provided. More precisely, the area of Lie groups and Lie algebras is employed. Kinematic equations are constructed for a 3-link snake-like robot and a nonholonomic control system is derived in terms of vector felds. Additional vector felds are created by the Lie bracket operation to prove local controllability of the nonholonomic system. Finally, the snake-like robot’s moves are animated in MATLAB software. Detailed record

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