Research On Kinematics And Control System Of Nonholonomic Manipulator

The nonholonomic problem most commonly arise in finite dimensional mechanical systems where constraints are imposed on the motion that are not integral, such as wheeled vehicles with rolling contact and space robotics with angle moment conservation. The nonholonomic system is controllable when the dimension of input space is less than that of configuration space.This paper proposes a new type of nonholonomic mechanism based on the special character of nonholonomic system and nonlinear control principle. And the new type of nonholonomic mechanism is putted into building a kind of manipulator. In this way we can only use two actuates to control the multiple joints.The research based on the kinematic character of the manipulator indicates the system is equipped with constrains of nonholonomic. And, its controllable quality is proved, which show the manipulator is controllable.Further, the paper converted the manipulator into chained system. The reason for processing the conversion is not only general nonholonomic system all can be converted into chained system, more important, the controllable method of chained system is more easy and mature.After the chained conversion, the paper discuss controllable method of chained system, as a result, we rise the controllable method of triangle function input, which can employ triangle function input step by step to realize control every parameter of chained system..At last, we employ the controllable method on the manipulator, by complexly solving the function, we can get at the practical input curve. As a result of above discuss, the control and planning of nonholonomic manipulator should come ture.