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SHAPARE A., WILCZEK F.: Geometry of self-propulsion at low Reynolds number, Journal of Fluid Mechanics 198 (1989) 557-585.

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Article

Base Space of Nonholonomic System

1Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia


Journal of Automation and Control. 2016, Vol. 4 No. 2, 10-14
DOI: 10.12691/automation-4-2-1
Copyright © 2016 Science and Education Publishing

Cite this paper:
Tomáš Lipták, Michal Kelemen, Alexander Gmiterko, Ivan Virgala, Ľubica Miková. Base Space of Nonholonomic System. Journal of Automation and Control. 2016; 4(2):10-14. doi: 10.12691/automation-4-2-1.

Correspondence to: Tomáš  Lipták, Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia. Email: tomas.liptak@tuke.sk

Abstract

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.

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