Abstract
Nonholonomic systems are mechanical systems with nonintegrable constraints. It is shown how nonlinear control theory can be applied to design nonholonomic mechanical systems. Expliting the unique features of nonholonomic systems, we designed a nonholonomic manipulator which is a controllable 2-input, n-joint manipulator. To create nonholonomic constraints, a special type of velocity transmission, called a nonholonomic gear, was used. In this paper, we show the theoretical design of a nonholonomic manipulator and experimental results with the fabricated prototype.
Preview
Unable to display preview. Download preview PDF.
References
O. J. Sørdalen, Feedback Control of Nonholonomic Mobile Robots, PhD thesis, The Norwegian Institute of Technology, February 1993, ITK-rapport 1993:5-W.
O. J. Sørdalen, Y. Nakamura, and W. J. Chung, “Design of a nonholonomic manipulator”, in Proc. 1994 IEEE International Conference on Robotics and Automation, pp. 8–13, San Diego, California, May 1994.
W. J. Chung, Y. Nakamura, and O. J. Sørdalen, “Prototyping a nonholonomic manipulator”, in Preprints of the Fourth IFAC Symposium on Robot Control'94, pp. 323–328, Capri, Italy, September 1994.
R. M. Murray and S. S. Sastry, “Nonholonomic motion planning: Steering using sinusoids”, IEEE Transactions on Automatic Control, vol. 38, pp. 700–716, 1993.
O. J. Sørdalen and K. Y. Wichlund, “Exponential stabilization of a car with n trailers”, in Proc. 32th Conference on Decision and Control, pp. 978–983, San Antonio, December 1993.
D. Tilbury, R. Murray, and S. Sastry, “Trajectory generation for the n-trailer problem using goursat normal form”, in Proc. 32th Conference on Decision and Control. San Antonio, December 1993.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1997 Springer-Verlag London Limited
About this paper
Cite this paper
Chung, W., Nakamura, Y., Sørdalen, O.J. (1997). Experimental research of a nonholonomic manipulator. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035235
Download citation
DOI: https://doi.org/10.1007/BFb0035235
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-76133-4
Online ISBN: 978-3-540-40942-7
eBook Packages: Springer Book Archive