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

DOI10.1007/978-3-031-34031-4_12MaRDI QIDQ6550508zbMATH OpenFDO

Authors Roman Byrtus, Stanislav Frolík

Publication date 5 June 2024

Full work available at URL https://doi.org/10.1007/978-3-031-34031-4_12

zbMATH Keywords

bivectorClifford algebraconfiguration spacegeometric algebranon-holonomic mechanismPython-package Clifford

Mathematics Subject Classification ID

Applications of Clifford algebras to physics, etc. (15A67) Symbolic computation and algebraic computation (68W30) Kinematics of mechanisms and robots (70B15) Nonholonomic systems related to the dynamics of a system of particles (70F25)

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Cites work

• CGA-based robotic snake control
• Control of 3-link robotic snake based on conformal geometric algebra
• Foundations of geometric algebra computing.
• Local controllability of snake robots based on CRA, theory and practice

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