Experimental research of the chained form manipulator

Woojin Chung, Yoshihiko Nakamura

Research output: Contribution to conferencePaperpeer-review

3 Citations (Scopus)


Exploiting unique features of nonholonomic systems, innovative and advantageous mechanisms can be designed. We have proposed the chained form manipulator which is a controllable n-joint manipulator with only two actuators. The chained form manipulator is designed not only to satisfy chained form convertibility, but also to achieve control simplicity. Design requirements and mechanical design of the chained form manipulator were proposed in our prior work. For the experimental verifications, we fabricated a prototype. 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 analyses 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
Number of pages7
Publication statusPublished - 1998
EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
Duration: 1998 Oct 131998 Oct 17


OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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