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This paper provides a method for a controllable nonholonomic mechanical system. By use of the nonholonomy of the disk's rolling constraint in the plane and the condition of chained form conversion, a multi-joint nonholonomic manipulator, which uses only two actuators and can be converted into chained form and achieves control simplicity, is presented. The Frobenius and Chow theorems prove that the nonholonomic manipulator is controllable and satisfies the condition of chained formdoi:10.18280/mmc_b.860113 fatcat:7s3urezrxfbdfahrvecqjk5qaq