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Transactions of the Japan Society of Mechanical Engineers Series C
In this paper, we deal with a three-link space robot moving in planar space without controls for the base attitude. Our experimental setup of the three-link space robot can levitate by use of compressed air. Using d'Alembert principle, it is shown that the state equation of the three-link space robot can be reconstructed as a first-order nonholonomic system with the constraint condition that the rotational velocity of the base is set to be zero. The suitable final postures corresponding to thedoi:10.1299/kikaic.70.1409 fatcat:yeitkfmgsrbhjitbfltrct7rhu