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.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
