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MARC
Refman RIS
National Repository of Grey Literature
12
records found
11 - 12
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Control Theory of robotic snakes with more than three links
Tejkal, Martin
;
Návrat, Aleš
(referee) ;
Hrdina, Jaroslav
(advisor)
The subject of this Bachelor's thesis is control theory of mechanism that simulates snake's movement. From a viewpoint of control theory the robot is classified as nonholonomic system, controllability of which is determined by vector fields. Based on nonholomic constrain a set of input vector fields is obtained from a system of nonholonomic equations. The other vector fields that are necessary for controllability of the system are derived from the set of input vector fields by application of Lie bracket operation on two input fields. This set of vector fields is further analysed in particular points of the configuration space. Finally we discuss changes that need to be done in order to describe a mechanism created by adding one, or more new links.
Detailed record
Control Theory of robotic snakes with missing wheels
Reichmanová, Barbora
;
Vašík, Petr
(referee) ;
Hrdina, Jaroslav
(advisor)
This thesis looks into the mathematical description of a three-sectional robot. The thesis deals with cases of wheels missing either on the middle or the last section or solely on the middle section. At first theoretical basis is mentioned including the terms such as vector and affinne space, Lie algebra, distribution or controllable system. Subsequently, there is presented formulation of equations describing a snake robot with missing wheels, solutions of equations, calculation of Lie brackets and discussion of controllability. The calculations are demonstrated on examples of various configurations of the robot.
Detailed record
National Repository of Grey Literature :
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