期刊论文详细信息
Frontiers in Physics | |
Algebraic Structure and Poisson Integral Method of Snake-Like Robot Systems | |
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
【 预 览 】
Files | Size | Format | View |
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RO202107127325801ZK.pdf | 259KB | download |