Titlebook: Nonholonomic Manipulators; Woojin Chung Book 2004 Springer-Verlag Berlin Heidelberg 2004 Nonholonomic Constraint.Nonlinear Control.Robot M

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1 Introduction,d . are key concepts for such classification and describes the essential difference of behaviors of physical systems. In this section, definitions and several examples of the holonomic and the nonholonomic systems are presented.

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3 Prototyping and control of the nonholonomic manipulator,on and prototyping are significant in practice. Since joint actuating torques are transmitted through the nonholonomic gears using frictional forces, a prototype should be carefully designed to assure the principle of velocity transmission, which was presented in section 2.3.

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2 Design of the nonholonomic manipulator,his is achieved by introducing a nonholonomic gear consisting of a ball and wheels at the joints instead of actuators or any other controlled devices like brakes or clutches. Nonholonomic gears transmit velocities from the actuator inputs to the passive joints.

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Book 2004ineering. The scope of this book is the definition and development of new nonholonomic machines which are designed on the basis of nonlinear control theory for nonholonomic mechanical systems. A key feature of the work is the possibility to exploit nonholonomic theory to design innovative mechanical