Experimental Research of a Nonholonomic Manipulator.
نویسندگان
چکیده
منابع مشابه
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Nonholonomic system is now one of major topics in robotics. In this paper, we discuss the nonlinear behavior of a two-joint planer manipulator with the second joint free for time-periodic inputs. First, we illustrate that when the amplitude remains small, the Poincar e map of the system follows an ellipse-like closed path and it becomes chaotic with large amplitude. We, then, propose a control ...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1996
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.14.694