Abstract
Nonholonomic constraints are exploited to design a controllable n-joint manipulator with only two inputs. Gears subject to nonholonomic constraints are designed to transmit velocities from the inputs to the unactuated joints. The designed nonholonomic manipulator is shown to be completely controllable in the whole configuration space. The system possesses a triangular structure for which a conversion into chained form is presented. The nonholonomic manipulator can, therefore, be controlled with open loop or closed loop using existing controllers for chained form. Simulation results are presented showing steering between two configurations in the n-dimensional joint space.
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