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Nonholonomic Manipulators

Name: Nonholonomic Manipulators
Brand: Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
SKU: 01559424
Price: 118.29 EUR
Availability: InStock
Author: Woojin Chung
ISBN: 9783540221081

Woojin Chung

Language

English

Book Hardback

Libristo code: 01559424

Publishers Springer-Verlag Berlin and Heidelberg GmbH & Co. KG, September 2004

This focused monograph on nonholonomic manipulators builds upon an increasing interest in nonholonom... Full description

Libristo code: 01559424

290 b

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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. TOC: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.