Nilpotent approximation of a trident snake robot controlling distribution.

DOI10.14736/KYB-2017-6-1118MaRDI QIDQ4637458zbMATH OpenOpenAlexFDO

Authors Jaroslav Hrdina, R. Matoušek, Aleš Návrat, Petr Vašík

Publication date 18 April 2018

Published in Kybernetika (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1607.08500

zbMATH Keywords

local controlnilpotent approximationrobotic snake

Mathematics Subject Classification ID

Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85)

Abstract: We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions are local in the neighbourhood of a particular point. We compare the motions corresponding to the Lie bracket of the original controlling vector fields and their nilpotent approximation.

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• scientific article; zbMATH DE number 4127972

Cited in

(4)

• Local controllability of trident snake robot based on sub-Riemannian extremals
• On geometric control models of a robotic snake
• Model predictive control of non-holonomic systems: beyond differential-drive vehicles
• A Clifford algebra-based algorithm for 3d snake robot kinematics

Describes a project that uses

Uses Software

• Matlab

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