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Geometric Control of the Trident Snake Robot Based on CGA

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Abstract

We demonstrate the theory on the 1-link trident snake and the functionality in the CLUCalc software designed for the computations in Clifford algebra. Local control of a general trident snake robot is solved by means of conformal geometric algebra. It is shown that the model modifications are much easier to handle in this setting. Within this paper, we present an alternative model description only, while all its kinematic properties remain. The equations of the direct and differential kinematics, the Pfaff constraints, the inverse kinematics and the singular postures are discussed and translated into the language of CGA.

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Authors and Affiliations

  1. Institute of Mathematics, Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czech Republic

    J. Hrdina, A. Návrat & P. Vašík

  2. Institute of Automation and Computer Science, Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czech Republic

    R. Matoušek

Authors
  1. J. Hrdina
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  2. A. Návrat
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  3. P. Vašík
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  4. R. Matoušek
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Corresponding author

Correspondence to P. Vašík.

Additional information

The research was supported by the project NETME CENTRE PLUS (LO1202). The results of the project NETME CENTRE PLUS (LO1202) were co-funded by the Ministry of Education, Youth and Sports within the support programme “National Sustainability Programme I”.

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Hrdina, J., Návrat, A., Vašík, P. et al. Geometric Control of the Trident Snake Robot Based on CGA. Adv. Appl. Clifford Algebras 27, 633–645 (2017). https://doi.org/10.1007/s00006-016-0693-7

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  • DOI: https://doi.org/10.1007/s00006-016-0693-7

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