Nonholonomic Manipulators (Springer Tracts in Advanced Robotics)

ISBN: 9783540221081

出版社: Springer

出版年: 2004-10-15

页数: 136

定价: USD 89.95

装帧: Hardcover

内容简介

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.