Nonlinear behavior and control of a nonholonomic free-joint manipulator

• Published in: IEEE transactions on robotics and automation Vol. 13; no. 6; pp. 853 - 862
• Main Authors: Nakamura, Y., Suzuki, T., Koinuma, M.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.12.1997; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Amplitude modulation; Automation; Chaos; Constraint theory; Control systems; Controllability; Feedback; Manipulator dynamics; Mechanical systems; Motion control; Orbital robotics; Robot kinematics; Robots

The nonlinear motion of underactuated mechanisms has drawn recent interests of researchers. Underactuated mechanical systems are often subject to so-called nonholonomic constraints which are related to many both theoretical and practical issues. We first analyze the nonlinear behavior of a two-joint...