Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement

[+] Author and Article Information
Subir Kumar Saha, Jorge Angeles

Department of Mechanical Engineering, Robotic Mechanical Systems Laboratory, McGill Research Centre for Intelligent Machines, McGill University, Montreal, Quebec, Canada

J. Appl. Mech 58(1), 238-243 (Mar 01, 1991) (6 pages) doi:10.1115/1.2897157 History: Received June 27, 1989; Revised November 17, 1989; Online March 31, 2008


The dynamics equations governing the motion of mechanical systems composed of rigid bodies coupled by holonomic and nonholonomic constraints are derived. The underlying method is based on a natural orthogonal complement of the matrix associated with the velocity constraint equations written in linear homogeneous form. The method is applied to the classical example of a rolling disk and an application to a 2-dof Automatic Guided Vehicle is outlined.

Copyright © 1991 by The American Society of Mechanical Engineers
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