Overview
- Presents recent results in design and control of robot manipulator which is controllable with only two actuators using nonholonomic constraints
- Includes supplementary material: sn.pub/extras
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 13)
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Table of contents (6 chapters)
Keywords
About this book
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 theory for nonholonomic mechanical systems. A key feature of the work is the possibility to exploit nonholonomic theory to design innovative mechanical systems with a reduced number of actuators without reducing the size of their controllable space. The book offers a comprehensive treatment of the problem from the theoretical development of the various control schemes to prototyping new types of manipulators, while testing their performance by simulation and experiments in a number of significant cases.
Reviews
From the reviews of the first edition:
"The presented monograph evolved from the author’s Ph.D. dissertation … . The work builds upon an increasing interest in nonholonomic mechanical systems which have attracted several researchers in control and robotics. A key feature of the book is the possibility to exploit nonholonomic theory to design innovative mechanical systems … . The volume offers a comprehensive treatment of the problem from the theoretical development of the various control schemes to prototyping new types of manipulators … ." (Bojidar Cheshankov, Zentralblatt MATH, Vol. 1074, 2005)
Bibliographic Information
Book Title: Nonholonomic Manipulators
Authors: Woojin Chung
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/b95519
Publisher: Springer Berlin, Heidelberg
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eBook Packages: Springer Book Archive
Copyright Information: Springer-Verlag Berlin Heidelberg 2004
Hardcover ISBN: 978-3-540-22108-1Published: 01 September 2004
Softcover ISBN: 978-3-642-06047-2Published: 06 December 2010
eBook ISBN: 978-3-540-44425-1Published: 20 August 2004
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XIV, 114
Topics: Control and Systems Theory, Control, Robotics, Mechatronics, Artificial Intelligence, Systems Theory, Control