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National Repository of Grey Literature 2 records found  Search took 0.00 seconds. 
Control theory in robotics
 Bartoňová, Ludmila ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
This thesis deals with the local control of a snake robot. The model control system is derived from kinematic equations and local controllability is investigated by means of Lie brackets. Then we describe some elementary motions along flow of the controlling vector fields and show the meaning of a periodic input. Another control model is formed by an approximation of the first system. Afterwards, both systems are compared by means of sub-Riemannian metric and thus the qualitative analysis is made.
Detailed record
Control theory in robotics
 Bartoňová, Ludmila ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
This thesis deals with the local control of a snake robot. The model control system is derived from kinematic equations and local controllability is investigated by means of Lie brackets. Then we describe some elementary motions along flow of the controlling vector fields and show the meaning of a periodic input. Another control model is formed by an approximation of the first system. Afterwards, both systems are compared by means of sub-Riemannian metric and thus the qualitative analysis is made.
Detailed record

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