Notes on forward kinematics of generalised robotic snakes based on compass ruler algebra (Q6550508)

In this proceedings paper the authors describe a forward kinematics algorithm of a robotic snake. This kind of mechanism is a serial planar robotic chain with \(n\) links in series connected with \(n-1\) revolute joints. Every link is equipped with a pair of wheels that introduce a so-called non-slip condition to the orthogonal direction of each link. The forward kinematics is computed with help of geometric algebra, position and orientation of the first link and the joint angles are given.\N\NThe authors extend this concept to a snake robot, where the links are able to change their lengths, i.e., introducing prismatic joints along them. As an example the 3-link robotic snake is shown where only the second link has a fixed length. Parts of the example are also shown in a Python code using the package Clifford.\N\NThe mathematical description of the mechanism is shown in two different reference frames, whereas the transformations in both cases just differ in their order.\N\NBefore reading the paper at hand it would be advisable to briefly get an idea of geometric algebra, for example in the cited book of \textit{D. Hildenbrand} [Foundations of geometric algebra computing. Berlin: Springer (2013; Zbl 1268.65038)].\N\NFor the entire collection see [Zbl 1539.68035].