Abstract
We demonstrate the theory on the 1-link trident snake and the functionality in the CLUCalc software designed for the computations in Clifford algebra. Local control of a general trident snake robot is solved by means of conformal geometric algebra. It is shown that the model modifications are much easier to handle in this setting. Within this paper, we present an alternative model description only, while all its kinematic properties remain. The equations of the direct and differential kinematics, the Pfaff constraints, the inverse kinematics and the singular postures are discussed and translated into the language of CGA.
Sign-in/Register to access full text options 
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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
