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Seminari "Geometric algebra-based robotic snake control"

L'Institut d'Organització i Control de Sistemes Industrials organitza aquest seminari a càrrec del connferenciant Jaroslav Hrdina de l'Institute of Mathematics. Faculty of Mechanical Engineering. Brno University of Technology. Czech Republic.

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26/09/2017 de 11:00 a 12:00
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Aula Seminari IOC
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Connferenciant: Jaroslav Hrdina de l'Institute of Mathematics. Faculty of Mechanical Engineering. Brno University of Technology. Czech Republic.

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.