The paper presents a proposition of the control design methodology for the nonholonomic manipulator (NHM3) with three links. The proposed control strategy results from the geometrical interpretation of a structure of the NHM3 kinematic model. The derived tracking control law for driftless NHM3 system exemplifies the described control design concept. Simulation results confirm the validity and effectiveness of the presented idea.
['Maciej Michalek', 'Krzysztof Kozlowski']
Tracking controller with vector field orientation for 3-D nonholonomic manipulator