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ICRA
2002
IEEE

On Mechanical Control Systems with Nonholonomic Constraints and Symmetries

9 years 4 months ago
On Mechanical Control Systems with Nonholonomic Constraints and Symmetries
This paper presents a computationally efficient method for deriving coordinate representations for the equations of motion and the affine connection describing a class of Lagrangian systems. We consider mechanical systems endowed with symmetries and subject to nonholonomic constraints and external forces. This method is demonstrated on two robotic locomotion mechanisms known as the snakeboard and the roller racer. The resulting coordinate representations are compact and lead to straightforward proofs of various controllability results.
Francesco Bullo, Milos Zefran
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Francesco Bullo, Milos Zefran
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