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Geometrically controlled snake-like robot model
Shehadeh, Mhd Ali ; Návrat, Aleš (referee) ; Vašík, Petr (advisor)
This master’s thesis describes equations of motion for dynamic model of nonholonomic constrained system, namely the trident robotic snakes. The model is studied in the form of Lagrange's equations and D’Alembert’s principle is applied. Actually this thesis is a continuation of the study going at VUT about the simulations of non-holonomic mechanisms, specifically robotic snakes. The kinematics model was well-examined in the work of of Byrtus, Roman and Vechetová, Jana. So here we provide equations of motion and address the motion planning problem regarding dynamics of the trident snake equipped with active joints through basic examples and propose a feedback linearization algorithm.
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Geometric models of a snake robot control
Byrtus, Roman ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
This thesis deals with the geometric theory of control of a robotic snake. The thesis includes required definitions of differential geometry and control theory, which are used to describe and derive the control model for a three segment robotic snake. The model is applied in the simulation environment V-REP.
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Geometrically controlled snake-like robot model
Shehadeh, Mhd Ali ; Návrat, Aleš (referee) ; Vašík, Petr (advisor)
This master’s thesis describes equations of motion for dynamic model of nonholonomic constrained system, namely the trident robotic snakes. The model is studied in the form of Lagrange's equations and D’Alembert’s principle is applied. Actually this thesis is a continuation of the study going at VUT about the simulations of non-holonomic mechanisms, specifically robotic snakes. The kinematics model was well-examined in the work of of Byrtus, Roman and Vechetová, Jana. So here we provide equations of motion and address the motion planning problem regarding dynamics of the trident snake equipped with active joints through basic examples and propose a feedback linearization algorithm.
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Geometric models of a snake robot control
Byrtus, Roman ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
This thesis deals with the geometric theory of control of a robotic snake. The thesis includes required definitions of differential geometry and control theory, which are used to describe and derive the control model for a three segment robotic snake. The model is applied in the simulation environment V-REP.
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