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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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Dynamics of Snake Robots
Kubiena, Jaromír ; Doupovec, Miroslav (referee) ; Návrat, Aleš (advisor)
In this thesis, we deal with the mathematical description of the kinematics and the dynamics of mechanical systems. Then we focus on the particular mechanical system which is the Square robot with four legs with active joints and passive wheels, which moves on horizontal plane. The kinematics of the mechanical system is described by the control matrix, then we use it to express the equations of motion. We compute the dynamics the robot by using Lagrange equations. We verify that the mechanical system is nonholonomic constrained and we verify controllability by using Lie bracket and distribution. We find the singular postures of the robot.
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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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Dynamics of Snake Robots
Kubiena, Jaromír ; Doupovec, Miroslav (referee) ; Návrat, Aleš (advisor)
In this thesis, we deal with the mathematical description of the kinematics and the dynamics of mechanical systems. Then we focus on the particular mechanical system which is the Square robot with four legs with active joints and passive wheels, which moves on horizontal plane. The kinematics of the mechanical system is described by the control matrix, then we use it to express the equations of motion. We compute the dynamics the robot by using Lagrange equations. We verify that the mechanical system is nonholonomic constrained and we verify controllability by using Lie bracket and distribution. We find the singular postures of the robot.
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