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National Repository of Grey Literature 2 records found  Search took 0.01 seconds. 
Foundations of geometric control theory
 Čulák, Michal ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
This bachelor thesis deals with the description of algorithm for motion planning of trident snake robot. His model is created by means of differential geometry. The controllability of the robot is provided by Lie algebra, generated by elementary vector fields and their Lie bracket. The system is approximated by nilpotent approximation. In this thesis is proposed and described algorithm of motion planning with piecewise constant input. This algorithm is further derived for trident snake robot. Finally, selected motions of trident snake robot are simulated and portrayed in enviroment called MATLAB.
Detailed record
Foundations of geometric control theory
 Čulák, Michal ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
This bachelor thesis deals with the description of algorithm for motion planning of trident snake robot. His model is created by means of differential geometry. The controllability of the robot is provided by Lie algebra, generated by elementary vector fields and their Lie bracket. The system is approximated by nilpotent approximation. In this thesis is proposed and described algorithm of motion planning with piecewise constant input. This algorithm is further derived for trident snake robot. Finally, selected motions of trident snake robot are simulated and portrayed in enviroment called MATLAB.
Detailed record

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