Design and Control of a Cartesian Nonholonomic Robot.

Abstract

In this paper, we design a Cartesian nonholonomic robot using two balls and two actuators. It is shown that we can control not only the position of the robot hand very easily as we do for the usual commercial Cartesian robots, but also the position and orientation of the robot hand with only two inputs. To do the latter, we first transform the kinematic model of the robot into a chained form for which we propose a stabilization law. Simulation results are presented to demonstrate the effectiveness and performance of the proposed control method and a control method originally developed by Sørdalen.