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Simulační modelování a řízení hadům podobných robotů
Motyčková, Paulína ; Dvořák, Jiří (referee) ; Matoušek, Radomil (advisor)
This paper deals with the design of a robotic snake, its assembly, simulation using CoppeliaSim, and the testing of various methods for the control of robotic snakes (Serpentinoid, CPG). For individual control methods, the influence of selected parameters on the signals controlling the motorized joints of the robotic snake is observed, and their influence on the speed and energy consumption of the given mechanism is described.
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The kinematics of the three link robotic snake based on CRA algebra
Motyčková, Paulína ; Tichý, Radek (referee) ; Hrdina, Jaroslav (advisor)
This work deals with Clifford's algebra of type CRA and its use for kinematics of a three-link robotic snake. To solve CRA based kinematics, it is necessary to familiarise with elements forming CRA algebra and the relationships between them. Furthermore, it is crucial to master the operations and transformations of the corresponding algebra and their implementation on objects in the CRA algebra. This work deals with the direct kinematics of a robotic snake that we suppose moves on a flat surface. This work concludes with the ideal method of calculating the kinematics of this snake and the corresponding algorithm in GAALOP.
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Simulační modelování a řízení hadům podobných robotů
Motyčková, Paulína ; Dvořák, Jiří (referee) ; Matoušek, Radomil (advisor)
This paper deals with the design of a robotic snake, its assembly, simulation using CoppeliaSim, and the testing of various methods for the control of robotic snakes (Serpentinoid, CPG). For individual control methods, the influence of selected parameters on the signals controlling the motorized joints of the robotic snake is observed, and their influence on the speed and energy consumption of the given mechanism is described.
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The kinematics of the three link robotic snake based on CRA algebra
Motyčková, Paulína ; Tichý, Radek (referee) ; Hrdina, Jaroslav (advisor)
This work deals with Clifford's algebra of type CRA and its use for kinematics of a three-link robotic snake. To solve CRA based kinematics, it is necessary to familiarise with elements forming CRA algebra and the relationships between them. Furthermore, it is crucial to master the operations and transformations of the corresponding algebra and their implementation on objects in the CRA algebra. This work deals with the direct kinematics of a robotic snake that we suppose moves on a flat surface. This work concludes with the ideal method of calculating the kinematics of this snake and the corresponding algorithm in GAALOP.
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