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Experimental research of a nonholonomic manipulator

  • Chapter 10 Dynamics And Control
  • Conference paper
  • First Online:
Experimental Robotics IV

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 223))

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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.

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References

  1. O. J. Sørdalen, Feedback Control of Nonholonomic Mobile Robots, PhD thesis, The Norwegian Institute of Technology, February 1993, ITK-rapport 1993:5-W.

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  2. 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.

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Author information

Authors and Affiliations

  1. Department of Mechano-informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113, Tokyo, Japan

    Woojin Chung & Yoshihiko Nakamura

  2. ABB Corporate Research, N-1361, Billingstad, Norway

    Ole Jakob Sørdalen

Authors
  1. Woojin Chung
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  2. Yoshihiko Nakamura
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  3. Ole Jakob Sørdalen
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Editor information

Oussama Khatib J. Kenneth Salisbury

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© 1997 Springer-Verlag London Limited

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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

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  • DOI: https://doi.org/10.1007/BFb0035235

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76133-4

  • Online ISBN: 978-3-540-40942-7

  • eBook Packages: Springer Book Archive

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