Abstract
Controllable underactuated manipulators were successfully developed based on the nonlinear control theoretic approach. The nonholonomic gear is designed to create nonlinear structure on the robot manipulator. The nonholonomic gear is a special type of velocity transmission consisting of a ball and wheels, and provides the kinematic nonholonomic constraint. The gear can be employed not only to build underactuated manipulators but also to be used in many other applications as a continuously variable transmission having a nonlinear gear ratio of trigonometric functions.
This is a preview of subscription content, log in via an institution to check access.
Author information
Authors and Affiliations
Rights and permissions
About this chapter
Cite this chapter
Chung, W. 6 Conclusion. In: Nonholonomic Manipulators. Springer Tracts in Advanced Robotics, vol 13. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-44425-1_6
Download citation
DOI: https://doi.org/10.1007/978-3-540-44425-1_6
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22108-1
Online ISBN: 978-3-540-44425-1
eBook Packages: Springer Book Archive