Design and control of the nonholonomic manipulator

Yoshihiko Nakamura; Woojin Chung; Ole Jacob Sordalen

doi:10.1109/70.917082

Design and control of the nonholonomic manipulator

Yoshihiko Nakamura, Woojin Chung, Ole Jacob Sordalen

Research output: Contribution to journal › Article › peer-review

70 Citations (Scopus)

Abstract

Nonholonomic constraints are exploited to design a controllable n-joint manipulator with only two inputs. Gears subject to nonholonomic constraints are designed to transmit velocities from the inputs to the passive joints. The system possesses a triangular structure for which a conversion into chained form is presented. The nonholonomic manipulator can, therefore, be controlled with an open loop or a closed loop using existing controllers for chained form. Mechanical design is established, and experimental results proved the usefulness of design of the nonholonomic manipulator and applied control schemes. While previous publications have assumed that the nonholonomic systems are given and have developed theory for these systems, this paper points out a new direction where the nonholonomic theory is used to design controllable and stabilizable systems.

Original language	English
Pages (from-to)	48-59
Number of pages	12
Journal	IEEE Transactions on Robotics and Automation
Volume	17
Issue number	1
DOIs	https://doi.org/10.1109/70.917082
Publication status	Published - 2001 Feb

Bibliographical note

Funding Information:
The authors would like to acknowledge the reviewers of this paper for their valuable comments. W. Chung acknowledges the Pohang Steel Company Scholarship Society.

Funding Information:
Manuscript received December 4, 1999; revised August 11, 2000. This paper was recommended for publication by Associate Editor A. Bicchi and Editor A. De Luca upon evaluation of the reviewers’ comments. This work was supported in part by NTT Company, Ltd., Japan Society of the Promotion of Science, the Center of Maritime Control Systems at NTH/SINTEF, and Ministry of Culture, Sports and Education under the Grant in Aid of Scientific Research (General Research (b)04452153). This paper was presented in part at the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994.

Keywords

Chained form
Nonholonomic constraint
Nonlinear control
Robot manipulator
Underactuated system

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/70.917082

Cite this

@article{f625bbbbc1f54d5986000f745f6dfcd1,

title = "Design and control of the nonholonomic manipulator",

abstract = "Nonholonomic constraints are exploited to design a controllable n-joint manipulator with only two inputs. Gears subject to nonholonomic constraints are designed to transmit velocities from the inputs to the passive joints. The system possesses a triangular structure for which a conversion into chained form is presented. The nonholonomic manipulator can, therefore, be controlled with an open loop or a closed loop using existing controllers for chained form. Mechanical design is established, and experimental results proved the usefulness of design of the nonholonomic manipulator and applied control schemes. While previous publications have assumed that the nonholonomic systems are given and have developed theory for these systems, this paper points out a new direction where the nonholonomic theory is used to design controllable and stabilizable systems.",

keywords = "Chained form, Nonholonomic constraint, Nonlinear control, Robot manipulator, Underactuated system",

author = "Yoshihiko Nakamura and Woojin Chung and Sordalen, {Ole Jacob}",

note = "Funding Information: The authors would like to acknowledge the reviewers of this paper for their valuable comments. W. Chung acknowledges the Pohang Steel Company Scholarship Society. Funding Information: Manuscript received December 4, 1999; revised August 11, 2000. This paper was recommended for publication by Associate Editor A. Bicchi and Editor A. De Luca upon evaluation of the reviewers{\textquoteright} comments. This work was supported in part by NTT Company, Ltd., Japan Society of the Promotion of Science, the Center of Maritime Control Systems at NTH/SINTEF, and Ministry of Culture, Sports and Education under the Grant in Aid of Scientific Research (General Research (b)04452153). This paper was presented in part at the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994.",

year = "2001",

month = feb,

doi = "10.1109/70.917082",

language = "English",

volume = "17",

pages = "48--59",

journal = "IEEE Transactions on Robotics and Automation",

issn = "1042-296X",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "1",

}

TY - JOUR

T1 - Design and control of the nonholonomic manipulator

AU - Nakamura, Yoshihiko

AU - Chung, Woojin

AU - Sordalen, Ole Jacob

N1 - Funding Information: The authors would like to acknowledge the reviewers of this paper for their valuable comments. W. Chung acknowledges the Pohang Steel Company Scholarship Society. Funding Information: Manuscript received December 4, 1999; revised August 11, 2000. This paper was recommended for publication by Associate Editor A. Bicchi and Editor A. De Luca upon evaluation of the reviewers’ comments. This work was supported in part by NTT Company, Ltd., Japan Society of the Promotion of Science, the Center of Maritime Control Systems at NTH/SINTEF, and Ministry of Culture, Sports and Education under the Grant in Aid of Scientific Research (General Research (b)04452153). This paper was presented in part at the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994.

PY - 2001/2

Y1 - 2001/2

N2 - Nonholonomic constraints are exploited to design a controllable n-joint manipulator with only two inputs. Gears subject to nonholonomic constraints are designed to transmit velocities from the inputs to the passive joints. The system possesses a triangular structure for which a conversion into chained form is presented. The nonholonomic manipulator can, therefore, be controlled with an open loop or a closed loop using existing controllers for chained form. Mechanical design is established, and experimental results proved the usefulness of design of the nonholonomic manipulator and applied control schemes. While previous publications have assumed that the nonholonomic systems are given and have developed theory for these systems, this paper points out a new direction where the nonholonomic theory is used to design controllable and stabilizable systems.

AB - Nonholonomic constraints are exploited to design a controllable n-joint manipulator with only two inputs. Gears subject to nonholonomic constraints are designed to transmit velocities from the inputs to the passive joints. The system possesses a triangular structure for which a conversion into chained form is presented. The nonholonomic manipulator can, therefore, be controlled with an open loop or a closed loop using existing controllers for chained form. Mechanical design is established, and experimental results proved the usefulness of design of the nonholonomic manipulator and applied control schemes. While previous publications have assumed that the nonholonomic systems are given and have developed theory for these systems, this paper points out a new direction where the nonholonomic theory is used to design controllable and stabilizable systems.

KW - Chained form

KW - Nonholonomic constraint

KW - Nonlinear control

KW - Robot manipulator

KW - Underactuated system

UR - http://www.scopus.com/inward/record.url?scp=0035245401&partnerID=8YFLogxK

U2 - 10.1109/70.917082

DO - 10.1109/70.917082

M3 - Article

AN - SCOPUS:0035245401

SN - 1042-296X

VL - 17

SP - 48

EP - 59

JO - IEEE Transactions on Robotics and Automation

JF - IEEE Transactions on Robotics and Automation

IS - 1

ER -

Design and control of the nonholonomic manipulator

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this