Control Theory of robotic snakes with missing wheels

Abstract

This thesis looks into the mathematical description of a three-sectional robot. The thesis deals with cases of wheels missing either on the middle or the last section or solely on the middle section. At first theoretical basis is mentioned including the terms such as vector and affinne space, Lie algebra, distribution or controllable system. Subsequently, there is presented formulation of equations describing a snake robot with missing wheels, solutions of equations, calculation of Lie brackets and discussion of controllability. The calculations are demonstrated on examples of various configurations of the robot

Similar works

Full text

thumbnail-image

National Repository of Grey Literature

redirect
Last time updated on 10/08/2016

This paper was published in National Repository of Grey Literature.

Having an issue?

Is data on this page outdated, violates copyrights or anything else? Report the problem now and we will take corresponding actions after reviewing your request.