Table of contents

  1. Front Matter
  2. Woojin Chung
    Pages 1-15
  3. Woojin Chung
    Pages 17-29
  4. Woojin Chung
    Pages 59-74
  5. Woojin Chung
    Pages 107-108
  6. Back Matter

About this book


This focused monograph on nonholonomic manipulators builds upon an increasing interest in nonholonomic mechanical systems in robotics and control engineering. The scope of this book is the definition and development of new nonholonomic machines which are designed on the basis of nonlinear control theory for nonholonomic mechanical systems. A key feature of the work is the possibility to exploit nonholonomic theory to design innovative mechanical systems with a reduced number of actuators without reducing the size of their controllable space. The book offers a comprehensive treatment of the problem from the theoretical development of the various control schemes to prototyping new types of manipulators, while testing their performance by simulation and experiments in a number of significant cases.


Nonholonomic Constraint Nonlinear Control Robot Manipulator Robot Motion Planning Underactuated System actuator control engineering robot robotics

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin/Heidelberg 2004
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Springer Book Archive
  • Print ISBN 978-3-540-22108-1
  • Online ISBN 978-3-540-44425-1
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site