Control of 3-link robotic snake based on conformal geometric algebra

DOI10.1007/S00006-015-0621-2MaRDI QIDQ331645zbMATHOpenAlexFDO

Authors Jaroslav Hrdina, Aleš Návrat, Petr Vašík

Publication date 27 October 2016

Published in Advances in Applied Clifford Algebras (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s00006-015-0621-2

zbMATH Keywords

Clifford algebranonholonomic mechanicsbionicsconformal geometric algebralocal controllabilitymathematics roboticsnake robots

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Clifford algebras, spinors (15A66)

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Cites work

• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• Foundations of geometric algebra computing.
• Geometric Fundamentals of Robotics
• Geometric algebra with applications in engineering
• Geometric control of the trident snake robot based on CGA
• Kinematics and grasping using conformal geometric algebra
• Robot perception and handling actions using the conformal geometric algebra framework
• Robust pose control of robot manipulators using conformal geometric algebra
• Snake robots. Modelling, mechatronics, and control.

Cited in

(15)

• Symmetries in geometric control theory using Maple
• A Nonholonomic Model and Complete Controllability of a Three-Link Wheeled Snake Robot
• Möbius transformations and the configuration space of a Hilbert snake
• Geometric control of the trident snake robot based on CGA
• Binocular computer vision based on conformal geometric algebra
• Projective geometric algebra as a subalgebra of conformal geometric algebra
• Local controllability of trident snake robot based on sub-Riemannian extremals
• Notes on forward kinematics of generalised robotic snakes based on compass ruler algebra
• Analytical mobility analysis of Bennett linkage using geometric algebra
• On geometric control models of a robotic snake
• Local controllability of snake robots based on CRA, theory and practice
• CGA-based robotic snake control
• Local control of 2-link robotic worms based on additional symmetries
• Robust pose control of robot manipulators using conformal geometric algebra
• Notes on planar inverse kinematics based on geometric algebra

Describes a project that uses

Uses Software

• CLUCalc

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