A condition on the trajectories of planar torque-unit manipulator for controlling all state variables

Torque-unit Manipulator(TUM) is a design concept of (space) manipulator and a Multibody system with nonholonomic constraints. Each joint of TUM is free and a device which is called “torque unit” is attached on each link. The “torque unit” can be made easily of a rotary actuator and a disc. Position-...

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Bibliografische gegevens

Hoofdauteurs:	Koji YOSHIDA, Daiki MISAKA, Tetsuya KINUGASA, Ryota HAYASHI, Koichi OSUKA
Formaat:	Artigo
Taal:	Inglês
Gepubliceerd in:	The Japan Society of Mechanical Engineers 2018-07-01
Reeks:	Mechanical Engineering Journal
Onderwerpen:	space manipulator torque-unit manipulator nonholonomic system motion trajectory planning control
Online toegang:	https://www.jstage.jst.go.jp/article/mej/5/4/5_18-00160/_pdf/-char/en
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