Local controllability of trident snake robot based on sub-Riemannian extremals
dc.contributor.author | Hrdina, Jaroslav | cs |
dc.coverage.issue | suppl. 1 | cs |
dc.coverage.volume | 37 | cs |
dc.date.issued | 2017-05-24 | cs |
dc.description.abstract | To solve trident snake robot local controllability by differential geometry tools, we construct a privileged system of coordinates with respect to the distribution given by Pffaf system based on local nonholonomic conditions and, furthermore, we construct a nilpotent approximation of the transformed distribution with respect to the given filtration. We compute normal extremals of sub-Riemanian structure, where the Hamiltonian point of view was used. We demonstrated that the extremals of sub-Riemannian structure based on this distribution play the similar role as classical periodic imputs in control theory with respect of our mechanism. | en |
dc.format | text | cs |
dc.format.extent | 93-102 | cs |
dc.format.mimetype | application/pdf | cs |
dc.identifier.citation | Note di Matematica. 2017, vol. 37, issue suppl. 1, p. 93-102. | en |
dc.identifier.doi | 10.1285/i15900932v37supp11p93 | cs |
dc.identifier.issn | 1123-2536 | cs |
dc.identifier.orcid | 0000-0003-2460-7571 | cs |
dc.identifier.other | 136070 | cs |
dc.identifier.researcherid | K-7147-2019 | cs |
dc.identifier.scopus | 14044864000 | cs |
dc.identifier.uri | http://hdl.handle.net/11012/69390 | |
dc.language.iso | en | cs |
dc.publisher | Universit`a del Salento | cs |
dc.relation.ispartof | Note di Matematica | cs |
dc.relation.uri | http://siba-ese.unisalento.it/index.php/notemat/article/view/17176 | cs |
dc.rights | Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 Unported | cs |
dc.rights.access | openAccess | cs |
dc.rights.sherpa | http://www.sherpa.ac.uk/romeo/issn/1123-2536/ | cs |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/ | cs |
dc.subject | local controllability | en |
dc.subject | nonholonomic mechanics | en |
dc.subject | planar mechanisms | en |
dc.subject | sub–Riemannian geometry | en |
dc.subject | differential geometry | en |
dc.title | Local controllability of trident snake robot based on sub-Riemannian extremals | en |
dc.type.driver | article | en |
dc.type.status | Peer-reviewed | en |
dc.type.version | publishedVersion | en |
sync.item.dbid | VAV-136070 | en |
sync.item.dbtype | VAV | en |
sync.item.insts | 2025.02.03 15:48:58 | en |
sync.item.modts | 2025.01.17 15:36:37 | en |
thesis.grantor | Vysoké učení technické v Brně. Fakulta strojního inženýrství. Ústav matematiky | cs |
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