Algebraic Structure and Poisson Integral Method of Snake-Like Robot Systems

Frontiers in Physics

Fu Jing-Li¹  Xiang Chun¹  Meng Lei² 

[1] College of Mechanical and Automotive Engineering, Zhejiang University of Water Resources and Electric Power, Hangzhou, China;Institute of Mathematical Physics, Zhejiang Sci-Tech University, Hangzhou, China;

关键词: snake-like robot;    algebraic structure;    poisson integral;    lagrange equation;    hamiltonian function;   

DOI  :  10.3389/fphy.2021.643016

来源: Frontiers

【 摘 要 】

The algebraic structure and Poisson's integral of snake-like robot systems are studied. The generalized momentum, Hamiltonian function, generalized Hamilton canonical equations, and their contravariant algebraic forms are obtained for snake-like robot systems. The Lie-admissible algebra structures of the snake-like robot systems are proved and partial Poisson integral methods are applied to the snake-like robot systems. The first integral methods of the snake-like robot systems are given. An example is given to illustrate the results.

【 授权许可】

CC BY