Finding a mechanism with (4, 7) filtration corresponding to the path geometry

The subject of this Bachelor's thesis is control theory of mechanism, the so-called trident snake robot. From a viewpoint of control theory, it is classified as a nonholonomic system whose controllability is determined by vector fields. In this thesis, input vector fields are obtained from the system of nonholonomic equations. The Lie bracket operation is applied on this vector fields. On the basis of an analysis of the results of the Lie bracket operation, the fulfillment of the definition of the generalized path geometry is verified for the particular models of the trident snake robot. Finally, Hamiltonian function and Christoffel symbols, needed to compile equations of geodesics, are calculated