SEARCH
MENU

History of Robotics Research and Development of Japan1995ManipulationTheoretical Design and Nonlinear Control of a Nonholonomic Manipulator

Yoshihiko NakmuraThe University of Tokyo
O.J. SordalenThe University of Tokyo
Woojin ChungThe University of Tokyo
10th RSJ Best Paper Award in 1996

Movies

photo
Nonholonomic Manipulator: Mechanism
photo
Nonholonomic Manipulator: Openloop Control with Time Scaled Polynomial Input
photo
Nonholonomic Manipulator: Feedback Control by Pseudo-Linearization
photo
Chained Fprm Manipulator: Mechanism
photo
Chained Form Manipulator: Feedback Control by Pseudo-Linearization

Correspondence papers

Yoshihiko Nakmura, O.J. Sordalen, and Woojin Chung：Theoretical Design and Nonlinear Control of a Nonholonomic Manipulator

Journal of the Robotics Society of Japan, Vol. 13, No. 5, pp. 74-682, 1995 (in Japanese).

Related papers

[1] Sordalen, O.J., Nakamura, Y. and Chung, W.J.: "Design of a Nonholonomic Manipulator," Proc. IEEE International Conference on Robotics and Automation, San Diego, May, CA, pp.8-13, 1994.

[2] Sordalen, O.J., Nakamura, Y. and Chung, W.J.: "Control of A Nonholonomic Manipulator," Proc. IFAC Symposium of Robot Control (SYROCO'94), Capri, Italy, September, pp.279-284, 1994.

[3] Chung, W.J., Nakamura, Y. and Sordalen, O.J.: "Prototyping a Nonholonomic Manipulator," Proc. IEEE International Conference on Robotics and Automation, Nagoya, Japan, April, pp.2029-2036, 1995.

[4] Chung, W.J., Nakamura, Y. and Sordalen, O.J.: "Experimental Research of a Nonholonomic Manipulator," Prep. Fourth International Symposium on Experimental Robotics, Stanford, CA, June, pp.284-289, 1995.

[5] Sordalen, O.J., Nakamura, Y. and Chung, W.J.: "Path Planning and Stabilization of a Nonholonomic Manipulator," Proc. European Control Conference, 1995.

[6] Sordalen, O.J., Nakamura, Y. and Chung, W.J.: "Application of Nonholonomic Constraints in Design of Controllable Mechanisms," Proc. European Control Conference, 1995.

[7] 中村, 鄭, Sordalen: "非ホロノミック・マニピュレータの実験的研究," 日本ロボット学会誌, Vol.14, No.5, pp.82-90, 1996.

[8] Chung, W.J. and Nakamura, Y.: "Design of the Chained Form Manipulator," Proc.1997 IEEE International Conference on Robotics and Automation, Albuquerque, pp.455-461, 1997.

[9] Chung, W.J. and Nakamura, Y.: "The Nonholonomic Manipulator -Motion Planning and Feedback Control towards Practical Applications-," Proc. of 2nd Asian Control Conference, Vol.1, Korea, pp.601-604, 1997.

[10] 鄭, 中村: "チェインドフォーム･マニピュレータの設計," 日本ロボット学会誌,Vol.17, No.1, pp.61-67, 1999.

[11] 中村, 江崎，鄭: "非ホロノミック・トレーラシステムの操舵機構設計と制御," 日本ロボット学会誌, Vol.17, No.6, pp.839-847, 1999.

[12] Nakamura, Y., Ezaki, H., Tan, Y. and Chung, W.J.: "Design of Steering Mechanism and Control of Nonholonomic Trailer Systems," Proc. of IEEE International Conference on Robotics and Automation(ICRA2000), Vol.1, pp.247-254, San Francisco , California, April,2000.

[13] Nakamura, Y., Chung, W.J. and Sordalen, O.: "Design and Control of the Nonholonomic Manipulator," IEEE Tran. on Robotics and Automation, Vol.17, No.1, pp.48-59, February, 2001.

[14] Nakamura, Y., Ezaki, H., Tan, Y. and Chung, W.J.: "Design of Steering Mecanism and Control of the Nonholonomic Trailer System," IEEE Tran. on Robotics and Automation, Vol.17, No.3, pp.367-374, June, 2001.

Related Article

記事はありません。