Abstract
Since a nonholonomic manipulator was theoretically designed from the viewpoint of kinematic constraints and nonlinear control, mechanical implementation and prototyping are significant in practice. Since joint actuating torques are transmitted through the nonholonomic gears using frictional forces, a prototype should be carefully designed to assure the principle of velocity transmission, which was presented in section 2.3.
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Chung, W. 3 Prototyping and control of the nonholonomic manipulator. In: Nonholonomic Manipulators. Springer Tracts in Advanced Robotics, vol 13. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-44425-1_3
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DOI: https://doi.org/10.1007/978-3-540-44425-1_3
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22108-1
Online ISBN: 978-3-540-44425-1
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