On geometric control models of a robotic snake
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http://siba-ese.unisalento.it/index.php/notemat/article/view/17178/14695
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资源简介：
We present three possible ways of controlling a robotic system called a 3-link snake robot. First, we recall the classical approach by constructing the controlling vector fields and their Lie brackets. Next we modify the coordinate system in order to obtain a nilpotent approximation of the controlling distribution. This is based on the notions of sub-Riemannian geometry. The third model is based on serpenoid curve and maintains the global control task.
提供机构：
University of Salento
创建时间：
2017-05-31
