Dempster’s Rule in the General Case.pdfVIP

Experimental Research of A Nonholonomic Manipulator W o o j i n C h u n g , Yoshihiko N a k a m u r a D e p a r t m e n t of M e c h a n o - i n f o r m a t i c s , U n i v e r s i t y of T o k y o 7-3-1 H o n g o , B u n k y o - k u , T o k y o 113, J a p a n c h u n g @ m e c h . t . u - t o k y o . a c . j p Ole J a k o b S ¢ r d a l e n A B B C o r p o r a t e R e s e a r c h , N-1361 Billingstad, N o r w a y o j s @ n o c r c . a b b . n o Abstract Nonholonomic systems are mechanical systems with nonintegrable con- straints. It is shown how nonlinear control theory can be applied to de- sign nonholonomic mechanical systems. Exploiting the unique features of nonholonomic systems, we designed a nonholonomic manipulator which is a controllable 2-input, n-joint manipulator. To create nonholonomic con- straints, a special type of velocity transmission, called a nonholonomic gear, was used. In this paper, we show the theoretical design of a nonhotonomic manipulator and experimental results with the fabricated prototype. 1. I n t r o d u c t i o n One of the special features of nonholonomic systems is that the dimension of con- trollable configuration space is higher than that of the input space. It is due to the fact that the dimension of the system under the nonintegrable constraints can- not be necessarily reduced by the constraints. One typical example is