Prototyping a nonholonomic manipulator

W. J. Chung, Y. Nakamura, O. J. Sordalen

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

9 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
DOIs
Publication statusPublished - 1995
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

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Other

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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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