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...
| Publié dans: | IEEE Transactions on robotics and automation 17, 1 (2001). |
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| Auteur principal: | |
| Format: | Article |
| Langue: | English |
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