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Control Theory of robotic snakes with missing wheels

By Barbora Reichmanová


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

Topics: neholonomní systém; nonholonomic system; robotický had; Lieova algebra; robotic snake; distribution; Lie algebra; distribuce
Publisher: Vysoké učení technické v Brně. Fakulta strojního inženýrství
Year: 2015
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