Engineering Mechanics

International Conference

Proceedings Vol. 30 (2024)


ENGINEERING MECHANICS 2024

30th INTERNATIONAL CONFERENCE
May 14 – 16, 2024, Milovy, Czech Republic
;
Editors: Vladimír Fuis and Petr Hájek

Copyright © 2024 Brno University of Technology, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno

ISBN 978-80-214-6235-9 (printed)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

list of papers scientific commitee

CGA-based snake robot control model
Byrtus R.
pages 54 - 57, full text

The snake robot is a nonholonomic mechanism composed of links equipped with passive wheels, connected by actuated joints whose motion mimics the locomotion of biological snakes. Control models intended for small-time local controllability are usually obtained by means of differential geometry, or, more recently, geometric algebra. Geometric algebras, also known as Clifford algebras, are an algebraic structure useful for modelling geometric objects and their transformations. We present an approach utilising the two-dimensional Conformal Geometric Algebra in order to derive the differential kinematics of the mechanism. A control model for small-time local controllability is created based on obtained differential kinematics, which is then used in visualization.


back to list of papers

Text and facts may be copied and used freely, but credit should be given to these Proceedings.

All papers were reviewed by members of the scientific committee.


Publication Ethics - Ethical guidelines for publication
Webmaster contact: admin@it.cas.cz

imce   Powered by Imce 3.20  © 2023, Pavel Formánek, Institute of Thermomechanics AS CR, v.v.i. [generated: 0.0287s]