Nonholonomic Variable Geometry Truss Assemblies I: Motion Control

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dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.contributor.authorTsakiris, D.P.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:54:49Z
dc.date.available2007-05-23T09:54:49Z
dc.date.issued1993en_US
dc.description.abstractWe consider the nonholonomic motion planning problem for a novel class of snakelike modular mobile manipulators, where each module is implemented as a planar parallel manipulator with idler wheels. This assembly is actuated by shape changes of its modules, which, under the influence of the nonholonomic constraints on the wheels, induce a global motion of the assembly.<P>We formulate the kinematics for a generic assembly of this type and specialize to the 2-module case in order to study the motion planning problem in greater detail.<P>en_US
dc.format.extent1060668 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5434
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1993-90en_US
dc.subjectnonholonomic motion planningen_US
dc.subjectvariable geometry trussen_US
dc.subjectparallel manipulatorsen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleNonholonomic Variable Geometry Truss Assemblies I: Motion Controlen_US
dc.typeTechnical Reporten_US

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