Modeling and control of two-link snake

Tomáš Lipták; Ivan Virgala; L’ubica Miková; Alena Galajdová; Peter Tuleja; Lucia Koukolová; Jozef Varga; Marek Sukop

doi:10.1177/1729881418760638

International Journal of Advanced Robotic Systems (Mar 2018)

Affiliations

Tomáš Lipták: Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia
Ivan Virgala: Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia
L’ubica Miková: Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia
Alena Galajdová: Department of Automation, Control and Telecommunication Interfaces, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia
Peter Tuleja: Department of Robotics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia
Lucia Koukolová: Department of Robotics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia
Jozef Varga: Department of Robotics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia
Marek Sukop: Department of Robotics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia

DOI: https://doi.org/10.1177/1729881418760638
Journal volume & issue: Vol. 15

Abstract

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This article deals with using of geometric mechanics at modeling mixed mechanical locomotion systems. In introductory part, the division of locomotion systems and reduced motion equation, which create the mathematical model of the system, is analyzed. Further we devoted to example of mixed locomotion system—two-link snake. We created the mathematical model of this example, simulated this system, and represented other tools of geometric mechanics.

Published in International Journal of Advanced Robotic Systems

ISSN: 1729-8814 (Online)
Publisher: SAGE Publishing
Country of publisher: United Kingdom
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering: Electronics; Science: Mathematics: Instruments and machines: Electronic computers. Computer science
Website: https://journals.sagepub.com/home/arx

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