TY - GEN
T1 - Prototyping a nonholonomic manipulator
AU - Chung, W. J.
AU - Nakamura, Y.
AU - Sordalen, O. J.
PY - 1995
Y1 - 1995
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0029178162&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0029178162&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.1995.525561
DO - 10.1109/ROBOT.1995.525561
M3 - Conference contribution
AN - SCOPUS:0029178162
SN - 0780319656
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2029
EP - 2036
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
Y2 - 21 May 1995 through 27 May 1995
ER -