منابع مشابه
Design and Control of a Chained Form Manipulator
Exploiting unique features of nonholonomic systems, innovative and advantageous mechanisms can be designed. We have proposed a nonholonomic manipulator which is a controllable n joint manipulator with only two actuators. In order to create its nonholonomic constraint, a special type of velocity transmission, called the nonholonomic gear, was developed. There are many possible alternatives for d...
متن کاملChained-Form Design and Motion Planning for a Nonholonomic Manipulator
This paper provides a method for a controllable nonholonomic mechanical system. By use of the nonholonomy of the disk’s rolling constraint in the plane and the condition of chained form conversion, a multi-joint nonholonomic manipulator, which uses only two actuators and can be converted into chained form and achieves control simplicity, is presented. The Frobenius and Chow theorems prove that ...
متن کاملObserver design for systems in second-order chained form
• A submitted manuscript is the author's version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version ...
متن کاملDiscontinuous exponential stabilization of chained form systems
The stabilization of nonholonomic systems have focused a lot of attention this last years [see e.g. survey papers 1, 2], in particular because it fails to exist linearizing feedback transformation or static continuous stabilizing state feedback [3] despite they are open-loop controllable [4]. The two main strategies adopted to stabilize these systems are time-varying feedbacks [see e.g. 5, 6, 7...
متن کاملdetermination of maximal singularity free zones in the workspace of parallel manipulator
due to the limiting workspace of parallel manipulator and regarding to finding the trajectory planning of singularity free at workspace is difficult, so finding a best solution that can develop a technique to determine the singularity-free zones in the workspace of parallel manipulators is highly important. in this thesis a simple and new technique are presented to determine the maximal singula...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1999
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.17.61