Prototyping a nonholonomic manipulator

Woo Jin Chung, Y. Nakamura, O. J. Sordalen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

We proposed a nonholonomic manipulator which is a controllable n joint manipulator with only two inputs, exploiting a special kind of velocity transmission called a nonholonomic gear. Since the nonholonomic manipulator was theoretically designed from the viewpoint of kinematic constraints and nonlinear control, mechanical implementation and prototyping are extremely important in practice. In this paper, the principle of mechanical design of a nonholonomic manipulator is established, and the experimental results are shown using a prototype nonholonomic manipulator.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2029-2036
Number of pages8
Volume2
DOIs
Publication statusPublished - 1995 Jan 1
Externally publishedYes
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 211995 May 27

Other

OtherProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
CityNagoya, Jpn
Period95/5/2195/5/27

Fingerprint

Manipulators
Gears
Kinematics

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Chung, W. J., Nakamura, Y., & Sordalen, O. J. (1995). Prototyping a nonholonomic manipulator. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 2029-2036) https://doi.org/10.1109/ROBOT.1995.525561

Prototyping a nonholonomic manipulator. / Chung, Woo Jin; Nakamura, Y.; Sordalen, O. J.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 1995. p. 2029-2036.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Chung, WJ, Nakamura, Y & Sordalen, OJ 1995, Prototyping a nonholonomic manipulator. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, pp. 2029-2036, Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3), Nagoya, Jpn, 95/5/21. https://doi.org/10.1109/ROBOT.1995.525561
Chung WJ, Nakamura Y, Sordalen OJ. Prototyping a nonholonomic manipulator. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. 1995. p. 2029-2036 https://doi.org/10.1109/ROBOT.1995.525561
Chung, Woo Jin ; Nakamura, Y. ; Sordalen, O. J. / Prototyping a nonholonomic manipulator. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 1995. pp. 2029-2036
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