Design and control of the nonholonomic manipulator

IEEE Transactions on Robotics and Automation

Volumn 17, Issue 1, 2001, Pages 48-59

  Nakamura, Yoshihiko ^a,b   Chung, Woojin ^c   Sordalen, Ole Jacob ^a,d  

^a IEEE   (Japan)

^b UNIVERSITY OF TOKYO   (Japan)

^c Korea Institute of Science and Technology   (South Korea)

^d ABB CORPORATE RESEARCH   (Norway)

Author keywords

Chained form; Nonholonomic constraint; Nonlinear control; Robot manipulator; Underactuated system

Indexed keywords

NONHOLONOMIC CONSTRAINT; NONHOLONOMIC MANIPULATOR; UNDERACTUATED SYSTEM;

CLOSED LOOP CONTROL SYSTEMS; CONSTRAINT THEORY; CONTROL SYSTEM SYNTHESIS; CONTROLLABILITY; GEARS; MATHEMATICAL MODELS; MOTION CONTROL; NONLINEAR CONTROL SYSTEMS; SYSTEM STABILITY; UNIVERSAL JOINTS;

MANIPULATORS;

EID: 0035245401     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.917082     Document Type: Article

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