This focused monograph builds upon an increasing interest in nonholonomic mechanical systems in robotics and control engineering. It covers the definition and development of new nonholonomic machines designed on the basis of nonlinear control theory for nonholonomic mechanical systems.
Author(s): Woojin Chung
Edition: Softcover reprint of hardcover 1st ed. 2004
Publisher: Springer
Year: 2010
Language: English
Pages: 115
01......Page 1
1.1 Nonholonomy......Page 11
1.2.1 Various examples of nonholonomic systems......Page 15
1.2.2 Open loop strategies......Page 17
1.2.3 Closed loop strategies......Page 20
1.3 Contributions and outline of this book......Page 22
2.1 Introduction......Page 26
2.2 The nonholonomic gear......Page 27
2.3.1 Joint driving mechanism......Page 29
2.3.2 Kinematic model of the nonholonomic manipulator......Page 31
2.4 Controllability......Page 32
2.5.1 Triangular structure and chained form conversion......Page 35
2.5.2 Chained form conversion of the nonholonomic manipulator......Page 37
2.6 Conclusion......Page 38
3.1 Introduction......Page 39
3.2.2 Supporting mechanism and adjusting spring force......Page 40
3.3 Analysis and computation of driving force......Page 42
3.4 Prototype of the nonholonomic manipulator......Page 45
3.5 Control of the nonholonomic manipulator......Page 48
3.5.1 Open loop control......Page 49
3.5.2 Feedback control with exponential convergence......Page 57
3.5.3 Feedback control by pseudo-linearization......Page 60
3.6 Conclusion......Page 65
4.1 Introduction......Page 66
4.2.1 Numerical computation of the coordinate transformation......Page 67
4.2.2 Simulated motion of the 5 joint nonholonomic manipulator......Page 68
4.3.1 Design of the main power train......Page 71
4.3.2 Joint driving of the chained form manipulator......Page 73
4.4 Kinematic model......Page 76
4.5.1 Numerical mapping of the conversion equations......Page 78
4.5.2 Simulated motion of the 6 joint chained form manipulator......Page 79
4.6 Conclusion......Page 81
5.1 Introduction......Page 82
5.2 Prototype of the chained form manipulator......Page 83
5.3.1 Related studies and unsolved problems......Page 87
5.3.2 Motion planning to approximate the given holonomic path......Page 88
5.4 Initial-condition sensitivity of planned motion......Page 95
5.5.1 Feedback control by pseudo-linearization......Page 102
5.5.2 E.cient motion planning using sinusoids......Page 106
5.6 Conclusion......Page 112
07......Page 113
08......Page 115
