Nonholonomic Manipulators

• Main Author: Chung, Woojin (Author, http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2004.
• Edition: 1st ed. 2004.
• Series: Springer Tracts in Advanced Robotics, 13
• Subjects: Control engineering.; Robotics.; Mechatronics.; Artificial intelligence.; System theory.; Control and Systems Theory.; Control, Robotics, Mechatronics.; Artificial Intelligence.; Systems Theory, Control.

This focused monograph on nonholonomic manipulators builds upon an increasing interest in nonholonomic mechanical systems in robotics and control engineering. The scope of this book is the definition and development of new nonholonomic machines which are designed on the basis of nonlinear control th...

Table of Contents:

• Introduction
• Design of the nonholonomic manipulator
• Prototyping and control of the nonholonomic manipulator
• Design of the chained form manipulator
• Prototyping and control of the chained form manipulator
• Conclusion.