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Detail publikace
HRDINA, J.
Originální název
Local controllability of trident snake robot based on sub-Riemannian extremals
Typ
článek v časopise ve Web of Science, Jimp
Jazyk
angličtina
Originální abstrakt
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.
Klíčová slova
local controllability; nonholonomic mechanics; planar mechanisms; sub–Riemannian geometry; differential geometry
Autoři
Vydáno
24. 5. 2017
Nakladatel
Universit`a del Salento
Místo
Salento
ISSN
1123-2536
Periodikum
Note di Matematica
Ročník
37
Číslo
suppl. 1
Stát
Italská republika
Strany od
93
Strany do
102
Strany počet
10
URL
http://siba-ese.unisalento.it/index.php/notemat/article/view/17176
Plný text v Digitální knihovně
http://hdl.handle.net/11012/69390
BibTex
@article{BUT136070, author="Jaroslav {Hrdina}", title="Local controllability of trident snake robot based on sub-Riemannian extremals", journal="Note di Matematica", year="2017", volume="37", number="suppl. 1", pages="93--102", doi="10.1285/i15900932v37supp11p93", issn="1123-2536", url="http://siba-ese.unisalento.it/index.php/notemat/article/view/17176" }