The design of underactuated manipulator based on nonholonomic constraint theory;

Effects of non-conservative forces and nonholonomic constraints on Noether symmetries of a Lagrange system;

Effects of non-conservative forces and nonholonomic constraints on Lie symmetries of a Hamiltonian system;

The control input vector of the platform was chosen as the particle,and the nonholonomic constrains can be.

The problems of motion planning for wheel typed mobile manipulator that accepted a non-holonomic constraint was studied.

In view of the disadvantages of the non-flexible turning, no communications and the increasing trend of some AGV s tracking errors, the turning problems in the flexible mode were analyzed, the state space and the control equation was also obtained by taking the non-holonomic constraints into considerations.

The treeshaped holonomic multi-rigid-body system, subjected to outside first order linear non-holonomic constraint, is regarded as treeshaped non-holonomic multi-rigid system.

From point of view of second order nonholonomic system, based on the extension theory of Lie Algebra, a new extension based on smooth trigonometrical polynomial is proposed, and a exponentially stable control method is verified for a class of underactuated manipulator with actuated joints not less than the passive ones.

A two-wheeled coaxial inverted pendulum system was derived using the wheel motor torques as inputs and taking the nonholonomic no-slip constraints into account by Lagrange method.

Based on the combination of the coordinate of the vision-based robotic soccer system with the nonholonomic restriction of the wheeled soccer robot,and on the analysis of the kinematics,the motion control equations are derived.