Nonholonomic dynamic rolling control of reconfigurable 5R closed kinematic chain robot with passive joints

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2003, Pages 4054-4059

  Yamawaki, Tasuku ^a   Mori, Osamu ^a   Omata, Toru ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ACCELERATION CONTROL; ACTUATORS; COMPUTER SIMULATION; DECELERATION; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; KINEMATICS; MOTION CONTROL; UNIVERSAL JOINTS;

5R CLOSED KINEMATIC CHAIN; NONHOLONOMIC DYNAMIC ROLLING CONTROL; SELF-RECONFIGURABLE ROBOT;

ROBOTS;

EID: 0344896548     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

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2. O. Mori, T. Yamawaki and T. Omata, "Control of Self-Reconfigurable Parallel Robot by Coupling Open Kinematic Chains with Unactuated Joints," SICE Annual Conference 2002 CD-ROM, WM06-4, 2002.
3. Y. Matsuo and V. Ampornaramveth, "A Wheel-Shaped Multi-Actuator System as a Test Bed for Autonomous Decentralized Motion Control," Trans. IEEE of Japan, 117-C(12), pp. 1840-1847, 1997.
4. M. Yim, Y. Zhang and D. Duff: "Modular Robots," IEEE Spectrum, vol. 39. no. 2, pp. 30-34, The institute of Electrical and Electronics Engineers, 2002.
5. W. H. Lee and A. C. Sanderson: "Dynamic Rolling Locomotion and Control of Modular Robots", IEEE Trans. on Robotics and Automation, vol. 18, no. 1, pp. 32-41, 2002.
6. G. Oriolo and Y. Nakamura: "Control of Mechanical Systems with Second-Order Nonholonomic Constraints: Underactuated Manipulators," Proceedings of the 30th Conference on Decision and Control, pp.2398-2403, 1991.