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Redundant nonholonomic mechanical systems: characterization and control

Published online by Cambridge University Press:  01 March 1999

R. Colbaugh ,
M. Trabatti  and
K. Glass
R. Colbaugh
Affiliation:
Department of Mechanical Engineering, New Mexico State University, Las Cruces, NM 88003 (USA)
M. Trabatti
Affiliation:
Department of Electrical and Computer Engineering, New Mexico State University, Las Cruces, NM 88003 (USA)
K. Glass
Affiliation:
Department of Mechanical Engineering, New Mexico State University, Las Cruces, NM 88003 (USA)
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Abstract

This paper introduces the notion of kinematic redundancy in nonholonomic mechanical systems, identifies some of the interesting properties which result because of the presence of the redundancy, and initiates a study of the control and application of these systems. It is shown that kinematic redundancy in nonholonomic system can be exploited both to simplify the problem of controlling these systems and to enhance their performance capabilities. Moreover, it is demonstrated that these results can be obtained even in the presence of considerable uncertainty regarding the system model. The proposed ideas are illustrated through the study of three example systems: a space robot, a mobile manipulator, and a tractor-trailer system with two steering inputs (fire truck).

Keywords

Kinematic redundancyNonholonomic systemsAdaptive control
Type
Research Article
Information
Robotica , Volume 17 , Issue 2 , March 1999 , pp. 203 - 217
Copyright
© 1998 Cambridge University Press

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