Nonholonomic Variable Geometry Truss Assemblies. 1. Motion Control

Abstract

We consider the nonholonomic motion planning problem for a novel class of snake-like modular mobile manipulators, where each module is implemented as a planar parallel rnanipulator 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. 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.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1993
Accession Number
ADA453147

Entities

People

  • Dimitris P. Tsakiris
  • P.S.Krishnaprasad

Organizations

  • University of Maryland

Tags

DTIC Thesaurus Topics

  • Abstracts
  • Assembly
  • Availability
  • Classification
  • Contracts
  • Control
  • Geometry
  • Information Operations
  • Instructions
  • Kinematics
  • Manipulators
  • Maryland
  • Mobile Manipulators
  • Monitoring
  • Motion Planning
  • Universities

Readers

  • Robotics and Automation.