Research on Motion Control of Nonholonomic Manipulator Base on Trigonometric Function Inputs

Yuegang Tan, Fei Ni, Peng Wu

Abstract: Research on motion control of nonholonomic system is a hot spot. The presence of polynomial input and trigonometric function input have efficiently solved some problems of motional control of nonholonomic system. But, when these methods are put into practice, there are some problems that need to be dealt with. In this paper, a nonholonomic manipulator was built and its kinematics model was deduced. For this nonholonomic manipulator, its kinematics model can be converted into chained system. By analyzing the control method of trigonometric function input in the chained system, it showed the motion character of trigonometric function input, and a conclusion can be drawn that the trigonometric function input can efficiently control the chained system