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© 2004

Nonholonomic Manipulators

  • Authors

Benefits

  • Presents recent results in design and control of robot manipulator which is controllable with only two actuators using nonholonomic constraints

Book
  • 6.6k Downloads

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 13)

Table of contents

  1. Front Matter
  2. Woojin Chung
    Pages 1-15
  3. Woojin Chung
    Pages 17-29
  4. Woojin Chung
    Pages 59-74
  5. Woojin Chung
    Pages 107-108
  6. Back Matter

About this book

Introduction

This focused monograph on nonholonomic manipulators builds upon an increasing interest in nonholonomic mechanical systems in robotics and control engineering. The scope of this book is the definition and development of new nonholonomic machines which are designed on the basis of nonlinear control theory for nonholonomic mechanical systems. A key feature of the work is the possibility to exploit nonholonomic theory to design innovative mechanical systems with a reduced number of actuators without reducing the size of their controllable space. The book offers a comprehensive treatment of the problem from the theoretical development of the various control schemes to prototyping new types of manipulators, while testing their performance by simulation and experiments in a number of significant cases.

Keywords

Nonholonomic Constraint Nonlinear Control Robot Manipulator Robot Motion Planning Underactuated System actuator control engineering robot robotics

Bibliographic information

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Reviews

From the reviews of the first edition:

"The presented monograph evolved from the author’s Ph.D. dissertation … . The work builds upon an increasing interest in nonholonomic mechanical systems which have attracted several researchers in control and robotics. A key feature of the book is the possibility to exploit nonholonomic theory to design innovative mechanical systems … . The volume offers a comprehensive treatment of the problem from the theoretical development of the various control schemes to prototyping new types of manipulators … ." (Bojidar Cheshankov, Zentralblatt MATH, Vol. 1074, 2005)