Nonlinear behavior and control of a nonholonomic free-joint manipulator

Y. Nakamura, T. Suzuki, M. Koinuma

Research output: Contribution to journalArticlepeer-review

95 Citations (Scopus)


The nonlinear motion of underactuated mechanisms has drawn recent interests of researchers. Underactuated mechanical systems are often subject to so-called nonholonomic constraints which are related to many both theoretical and practical issues. In this paper, we first analyze the nonlinear behavior of a two-joint planar manipulator with the second joint free, from nonlinear dynamics point of view. We then discuss the simultaneous positioning of both joints. We use a time-periodic input and propose an amplitude modulation of the feedback error. The analysis via the Poincaré map shows that the behavior becomes chaotic with large amplitude. The effectiveness of the proposed positioning control is verified by experiments.

Original languageEnglish
Pages (from-to)853-862
Number of pages10
JournalIEEE Transactions on Robotics and Automation
Issue number6
Publication statusPublished - 1997
Externally publishedYes


  • Amplitude modulation
  • Chaos
  • Free-joint manipulator
  • Nonlinear behavior
  • Nonlinear control
  • Periodic perturbation input
  • Second-order nonholonomic systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Nonlinear behavior and control of a nonholonomic free-joint manipulator'. Together they form a unique fingerprint.

Cite this