Planimeters as nonholonomic mechanical systems

Integrators for Nonholonomic Mechanical Systems

We study a discrete analog of the Lagrange-d’Alembert principle of nonhonolomic mechanics and give conditions for it to define a map and to be reversible. In specific cases it can generate linearly implicit, semi-implicit, or implicit numerical integrators for nonholonomic systems which, in several examples, exhibit superior preservation of the dynamics. We also study discrete nonholonomic syst...

Modeling and Control of Nonholonomic Mechanical Systems

The goal of this chapter is to provide tools for analyzing and controlling nonholonomic mechanical systems. This classical subject has received renewed attention because nonholonomic constraints arise in many advanced robotic structures, such as mobile robots, space manipulators, and multifingered robot hands. Nonholonomic behavior in robotic systems is particularly interesting, because it impl...

Mechanical systems subjected to generalized nonholonomic constraints

By J. Cortés, M. de León, D. Mart́ın de Diego, S. Mart́ınez 1 Instituto de Matemáticas y F́ısica Fundamental, Consejo Superior de Investigaciones Cient́ıficas, Serrano 123, 28006 Madrid, SPAIN ([email protected], [email protected], [email protected]) 2 Departamento de Economı́a Aplicada (Matemáticas), Universidad de Valladolid, Avda. Valle Esgueva 6, 47011 Valladoli...

Reduced Equations for Nonholonomic Mechanical Systems

Nonholonomic Mechanical Systems with Symmetry ANTHONY

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