Nakamura, Y Chung, W Sordalen, OJ 2024-01-21T12:45:55Z 2024-01-21T12:45:55Z 2021-09-05 2001-02 1042-296X https://pubs.kist.re.kr/handle/201004/140756 Nonholonomic constraints are exploited to design a controllable eta -joint manipulator with only two inputs. Gears subject to nonholonomic constraints are designed to transmit velocities from the inputs to the passive joints, The system possesses a triangular structure for which a conversion into chained form is presented, The nonholonomic manipulator can, therefore, be controlled with an open loop or a closed loop using existing controllers for chained form, Mechanical design is established, and experimental results proved the usefulness of design of the nonholonomic manipulator and applied control schemes. While previous publications have assumed that the nonholonomic systems are given and have developed theory for these systems, this paper points out a new direction where the nonholonomic theory is used to design controllable and stabilizable systems. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC EXPONENTIAL STABILIZATION SYSTEMS ROBOTS MOTION Design and control of the nonholonomic manipulator Article 10.1109/70.917082 1 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.17, no.1, pp.48 - 59 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 17 1 48 59 scie scopus 000167988200005 2-s2.0-0035245401 Automation & Control Systems Engineering, Electrical & Electronic Robotics Automation & Control Systems Engineering Robotics Article EXPONENTIAL STABILIZATION SYSTEMS ROBOTS MOTION chained form nonholonomic constraint nonlinear control robot manipulator underactuated system