Abstract
Local controllability of an n-link robotic snake with variable wheel positions is solved by means of the conformal geometric algebra, more precisely by the Clifford algebra of signature (3, 1). The non-holonomic kinematic equations are assembled, their role in the geometric control theory is discussed and the singular positions are elaborated. Within this paper, we present an alternative model description only, while all its kinematic properties remain.
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The authors were supported by a Grant No. FSI-S-14-2290.
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Hrdina, J., Návrat, A., Vašík, P. et al. CGA-based robotic snake control. Adv. Appl. Clifford Algebras 27, 621–632 (2017). https://doi.org/10.1007/s00006-016-0695-5
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DOI: https://doi.org/10.1007/s00006-016-0695-5