eng Science and Education Publishing Journal of Automation and Control 2372-3041 2016-12-14 4 2 10 14 10.12691/automation-4-2-1 AUTOMATION2016421 article Tomáš Lipták tomas.liptak@tuke.sk 1 Michal Kelemen 1 Alexander Gmiterko 1 Ivan Virgala 1 Ľubica Miková 1 Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia The article deals with the issue of use of geometric mechanics tools at modelling nonholonomic systems. The introductory part of article contains theory of geometric mechanics that we use at creating mathematical model of nonholonomic locomotion system with undulatory movement. Further it contains the determination of reconstruction equation for three-link snake-like robot where we consider ideal source of velocity. The relation between changes of shape and position variables was expressed using the local connection. After determination of controllability of kinematic snake, in last part we created reduced base dynamic equations in case when base variables do not represent ideal source of velocity. http://pubs.sciepub.com/automation/4/2/1/automation-4-2-1.pdf reconstruction equation connection reduced base dynamic equation reduced Lagrangian snake-like robot