Experimental Research of a Nonholonomic Manipulator

Yoshihiko Nakamura, Woojin Chung, Ole Jakob Sørdalen
1996 Journal of the Robotics Society of Japan  
We proposed a nonholonomic manipulator, which is a controllable n-joint manipulator with only two inputs, exploiting a special kind of velocity transmission, called a nonholonomic gear. Since the nonholonomic manipulator was theoretically designed from the viewpoint of kinematic constraints and nonlinear control, mechanical implementation and prototyping are extremely important in practice. In this paper, the principle of mechanical design of a nonholonomic manipulator is established, and the
more » ... perimental results are shown using a prototype nonholonomic manipulator.
doi:10.7210/jrsj.14.694 fatcat:xg6qbcwudfca7hh6524xx63fh4