Geometrické řízení hadům podobných robotů
| but.committee | prof. RNDr. Josef Šlapal, CSc. (předseda) prof. RNDr. Miloslav Druckmüller, CSc. (místopředseda) doc. Ing. Luděk Nechvátal, Ph.D. (člen) doc. RNDr. Jiří Tomáš, Dr. (člen) prof. Mgr. Pavel Řehák, Ph.D. (člen) Prof. Bruno Rubino (člen) Assoc. Prof. Matteo Colangeli (člen) Assoc. Prof. Massimiliano Giuli (člen) | cs |
| but.defence | Student introduced his diploma thesis to the committee members and explained the fundaments of his topic called Geometrically controlled snake-like robot model. He answered the oponent's questions satisfactorily. | cs |
| but.jazyk | angličtina (English) | |
| but.program | Aplikované vědy v inženýrství | cs |
| but.result | práce byla úspěšně obhájena | cs |
| dc.contributor.advisor | Vašík, Petr | en |
| dc.contributor.author | Shehadeh, Mhd Ali | en |
| dc.contributor.referee | Návrat, Aleš | en |
| dc.date.created | 2020 | cs |
| dc.description.abstract | This master’s thesis describes equations of motion for dynamic model of nonholonomic constrained system, namely the trident robotic snakes. The model is studied in the form of Lagrange's equations and D’Alembert’s principle is applied. Actually this thesis is a continuation of the study going at VUT about the simulations of non-holonomic mechanisms, specifically robotic snakes. The kinematics model was well-examined in the work of of Byrtus, Roman and Vechetová, Jana. So here we provide equations of motion and address the motion planning problem regarding dynamics of the trident snake equipped with active joints through basic examples and propose a feedback linearization algorithm. | en |
| dc.description.abstract | This master’s thesis describes equations of motion for dynamic model of nonholonomic constrained system, namely the trident robotic snakes. The model is studied in the form of Lagrange's equations and D’Alembert’s principle is applied. Actually this thesis is a continuation of the study going at VUT about the simulations of non-holonomic mechanisms, specifically robotic snakes. The kinematics model was well-examined in the work of of Byrtus, Roman and Vechetová, Jana. So here we provide equations of motion and address the motion planning problem regarding dynamics of the trident snake equipped with active joints through basic examples and propose a feedback linearization algorithm. | cs |
| dc.description.mark | A | cs |
| dc.identifier.citation | SHEHADEH, M. Geometrické řízení hadům podobných robotů [online]. Brno: Vysoké učení technické v Brně. Fakulta strojního inženýrství. 2020. | cs |
| dc.identifier.other | 124856 | cs |
| dc.identifier.uri | http://hdl.handle.net/11012/192344 | |
| dc.language.iso | en | cs |
| dc.publisher | Vysoké učení technické v Brně. Fakulta strojního inženýrství | cs |
| dc.rights | Standardní licenční smlouva - přístup k plnému textu bez omezení | cs |
| dc.subject | Geometric control theory | en |
| dc.subject | non-holonomic mechanics | en |
| dc.subject | motion planning | en |
| dc.subject | Lie algebra | en |
| dc.subject | Lagrangian equations of motion | en |
| dc.subject | Pfaffian constraints | en |
| dc.subject | trident snake robot | en |
| dc.subject | dynamic model. | en |
| dc.subject | Geometric control theory | cs |
| dc.subject | non-holonomic mechanics | cs |
| dc.subject | motion planning | cs |
| dc.subject | Lie algebra | cs |
| dc.subject | Lagrangian equations of motion | cs |
| dc.subject | Pfaffian constraints | cs |
| dc.subject | trident snake robot | cs |
| dc.subject | dynamic model. | cs |
| dc.title | Geometrické řízení hadům podobných robotů | en |
| dc.title.alternative | Geometrically controlled snake-like robot model | cs |
| dc.type | Text | cs |
| dc.type.driver | masterThesis | en |
| dc.type.evskp | diplomová práce | cs |
| dcterms.dateAccepted | 2020-07-15 | cs |
| dcterms.modified | 2020-07-22-06:54:56 | cs |
| eprints.affiliatedInstitution.faculty | Fakulta strojního inženýrství | cs |
| sync.item.dbid | 124856 | en |
| sync.item.dbtype | ZP | en |
| sync.item.insts | 2025.03.27 08:52:22 | en |
| sync.item.modts | 2025.01.15 13:05:07 | en |
| thesis.discipline | Matematické inženýrství | cs |
| thesis.grantor | Vysoké učení technické v Brně. Fakulta strojního inženýrství. Ústav matematiky | cs |
| thesis.level | Inženýrský | cs |
| thesis.name | Ing. | cs |