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Notes on Forward Kinematics of Generalised Robotic Snakes Based on Compass Ruler Algebra

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Advanced Computational Applications of Geometric Algebra (ICACGA 2022)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 13771))

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Abstract

We use conformal transformations in the kinematic chain of a specific planar mechanism. We present two possible ways to describe the configuration of a three link generalised snake robot using compass ruler algebra, which allows us to point out the nature of the generalised snake as an extension of the classic snake robot.

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References

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Authors and Affiliations

  1. Institute of Mathematics, Faculty of Mechanical Engineering, Brno University of Technology, Technická 2896/2, 616 69, Brno, Czech Republic

    Roman Byrtus & Stanislav Frolík

Authors
  1. Roman Byrtus
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  2. Stanislav Frolík
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Corresponding author

Correspondence to Roman Byrtus .

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Editors and Affiliations

  1. Algemetric, Colorado Springs, CO, USA

    David W. Silva

  2. International Christian University, Tokyo, Japan

    Eckhard Hitzer

  3. TU Darmstadt, Darmstadt, Germany

    Dietmar Hildenbrand

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Byrtus, R., Frolík, S. (2024). Notes on Forward Kinematics of Generalised Robotic Snakes Based on Compass Ruler Algebra. In: Silva, D.W., Hitzer, E., Hildenbrand, D. (eds) Advanced Computational Applications of Geometric Algebra. ICACGA 2022. Lecture Notes in Computer Science, vol 13771. Springer, Cham. https://doi.org/10.1007/978-3-031-34031-4_12

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  • DOI: https://doi.org/10.1007/978-3-031-34031-4_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-34030-7

  • Online ISBN: 978-3-031-34031-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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