Design and control of the nonholonomic manipulator.
Nonholonomic constraints are exploited to design a controllable n-joint manipulator with only two inputs. Gears subject to nonholonomic constraints are designed to transmit velocities from the inputs to the passive joints. The system possesses a triangular structure for which a conversion into chain...
| Published in: | IEEE Transactions on robotics and automation 17, 1 (2001). |
|---|---|
| Main Author: | |
| Format: | Article |
| Language: | English |
| Subjects: |