Design and control of a chained form manipulator

Woo Jin Chung, Yoshihiko Nakamura

Research output: Contribution to journalArticle

14 Citations (Scopus)

Abstract

Exploiting unique features of nonholonomic systems, innovative and advantageous mechanisms can be designed. We have proposed a nonholonomic manipulator which is a controllable n joint manipulator with only two actuators. In order to create its nonholonomic constraint, a special type of velocity transmission, called the nonholonomic gear, was developed. There are many possible alternatives for designing underactuated manipulators using the nonholonomic gear. In this paper, the chained form manipulator is designed not only to satisfy chained form convertibility, but also to achieve control simplicity. Design requirements are clarified, then we establish the mechanical design of the chained form manipulator. The chained form manipulator is designed with an innovative main power train as well as nonholonomic gears. For experimental verification, a prototype is fabricated. So far, various control strategies for nonholonomic systems have been proposed. In this paper, an efficient motion planning scheme for the chained form is presented to approximate any holonomic path with the feasible nonholonomic path. Furthermore, a new concept of motion planning is proposed through the analysis of the initial-condition sensitivity. Combining these two approaches, the motion planning scheme is constructed towards practical applications. Presented experimental results show the usefulness of the design and the applied control scheme.

Original languageEnglish
Pages (from-to)389-408
Number of pages20
JournalInternational Journal of Robotics Research
Volume21
Issue number5-6
Publication statusPublished - 2002 May 1
Externally publishedYes

Fingerprint

Manipulator
Nonholonomic
Manipulators
Motion Planning
Motion planning
Gears
Nonholonomic Systems
Nonholonomic Constraints
Path
Mechanical Design
Form
Design
Control Strategy
Actuator
Simplicity
Initial conditions
Actuators
Prototype
Alternatives
Requirements

Keywords

  • Chained form
  • Nonholonomic constraint
  • Nonholonomic motion planning
  • Nonlinear control
  • Underactuated system

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Design and control of a chained form manipulator. / Chung, Woo Jin; Nakamura, Yoshihiko.

In: International Journal of Robotics Research, Vol. 21, No. 5-6, 01.05.2002, p. 389-408.

Research output: Contribution to journalArticle

Chung, Woo Jin ; Nakamura, Yoshihiko. / Design and control of a chained form manipulator. In: International Journal of Robotics Research. 2002 ; Vol. 21, No. 5-6. pp. 389-408.
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