THEORETICAL DESIGN AND MOTION PLANNING OF NONHOLONOMIC MANIPULATOR

作     者：Tan Yuegang Deng Yuhui WU Zhengping School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070, China 

作者机构：Department of Science and Technology Studies University College London WC1E 6BT UK School of Mechanical and Electronic Engineering Wuhan University of Technology Wuhan 430070 China 

基　　金：This project is supported by National High-Tech Program for CIMS  China (No.2003AA412030) and Robotics Laboratory Shenyang Institute of Automation. Chinese Academy of Sciences (No.RL200201) 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2004年第17卷第2期

页      码：222-225页

摘      要：A new nonholonomic transmission mechanism is proposed based on thenonholonomic theory and nonlinear control principle, and combined with conditions of thenonholonomic motion planning and control, that is researched to compose method of the motiontransfer chain from this transmission mechanism, on which a new nonholonomic manipulator isdesigned. This nonholonomic manipulator is a controllable multi-joint manipulator that actuated onlyby two-servo electromotor. Its motion expresses the characteristic of nonholonomy constraint andnonlinear, and that also satisfies the chained form convertibility. And then, using the nonlinearcontrol principle of chained system, motion characteristic of the nonholonomic manipulator isapplied. From simulation verification and analysis, the usefulness of the theoretical design andcontrol strategies is shown, and that is important in design and research of handiness robot andmulti-finger robot hand.

主 题 词：Nonholonomic system Nonholonomic motion planning Nonlinear controlMulti-joint Manipulator 

学科分类：08[工学] 080203[080203] 0802[工学-机械学] 080201[080201] 

核心收录：

D　O　I：10.3901/cjme.2004.02.222

馆 藏 号：203342514...