Geometrické řízení hadům podobných robotů
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Vysoké učení technické v Brně. Fakulta strojního inženýrství
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.
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.
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.
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Keywords
Geometric control theory, non-holonomic mechanics, motion planning, Lie algebra, Lagrangian equations of motion, Pfaffian constraints, trident snake robot, dynamic model., Geometric control theory, non-holonomic mechanics, motion planning, Lie algebra, Lagrangian equations of motion, Pfaffian constraints, trident snake robot, dynamic model.
Citation
SHEHADEH, M. Geometrické řízení hadům podobných robotů [online]. Brno: Vysoké učení technické v Brně. Fakulta strojního inženýrství. 2020.
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en
Study field
Matematické inženýrství
Comittee
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)
Date of acceptance
2020-07-15
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.
Result of defence
práce byla úspěšně obhájena
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Standardní licenční smlouva - přístup k plnému textu bez omezení