Accession Number:

ADA453147

Title:

Nonholonomic Variable Geometry Truss Assemblies. 1. Motion Control

Descriptive Note:

Technical research rept.

Corporate Author:

MARYLAND UNIV COLLEGE PARK INST FOR SYSTEMS RESEARCH

Report Date:

1993-01-01

Pagination or Media Count:

35.0

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.

Subject Categories:

  • Theoretical Mathematics
  • Mechanics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE