Nonholonomic manipulators /
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 th...
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| Format: | eBook |
| Language: | English |
| Published: |
Berlin ; New York :
Springer,
[2004]
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| Series: | Springer tracts in advanced robotics ;
v. 13. |
| Subjects: | |
| Online Access: | Connect to the full text of this electronic book |
| Summary: | 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. |
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| Item Description: | Revised thesis (Ph. D.) - University of Tokyo. Electronic resource. |
| Physical Description: | 1 online resource (xiv, 114 pages) : illustrations. |
| Bibliography: | Includes bibliographical references. |
| ISBN: | 9783540444251 (electronic bk.) 3540444254 (electronic bk.) |
| ISSN: | 1610-7438 ; |