Robust motion/force control of mechanical systems with classical nonholonomic constraints

1994 ◽  
Vol 39 (3) ◽  
pp. 609-614 ◽  
Author(s):  
Chun-Yi Su ◽  
Y. Stepanenko
Keyword(s):  
Force Control ◽  
Mechanical Systems ◽  
Nonholonomic Constraints

Contact/Impact in Hybrid Parameter Multiple Body Mechanical Systems—Extensions for Higher-Order Continuum Models

1998 ◽  
Vol 120 (1) ◽  
pp. 142-144 ◽  
Author(s):  
Alan A. Barhorst
Keyword(s):  
Mechanical Systems ◽  
Nonholonomic Constraints ◽  
Higher Order ◽  
Constrained Motion ◽  
Momentum Exchange ◽  
Contact Impact ◽  
Systematic Formulation ◽  
Impact Motion ◽  
Boundary Equations ◽  
Hybrid Differential Equations

In recent work the author presented a systematic formulation of hybrid parameter multiple body mechanical systems (HPMBS) undergoing contact/impact motion. The method rigorously models all motion regimes of hybrid multiple body systems (i.e., free motion, contact/impact motion, and constrained motion), utilizing minimal sets of hybrid differential equations; Lagrange multipliers are not required. The contact/impact regime was modeled via the idea of instantaneously applied nonholonomic constraints. The technique previously presented did not include the possibility of continuum assumptions along the lines of Timoshenko beams, higher order plate theories, or rational theories considering intrinsic spin-inertia. In this technical brief, the above-mentioned method is extended to include the higher-order continuum assumptions which eliminates the continuum shortfalls from the previous work. The main contributions of this work include: 1) the previous work is rigorously extended, and 2) the fact that coefficients of restitution are not required for modeling the momentum exchange between motion regimes of HPMBS. The field and boundary equations provide the needed extra equations that are used to supply post-collision pointwise relationships for the generalized velocities and velocity fields.

A geometric approach to the transpositional relations in dynamics of nonholonomic mechanical systems

2018 ◽  
Vol 15 (07) ◽  
pp. 1850112 ◽  
Author(s):  
Mahdi Khajeh Salehani
Keyword(s):  
Equations Of Motion ◽  
Mechanical Systems ◽  
Nonholonomic Constraints ◽  
Geometric Approach ◽  
Nonholonomic Mechanical Systems ◽  
Nonholonomic Dynamics ◽  
Geometric Objects

Exploring the geometry of mechanical systems subject to nonholonomic constraints and using various bundle and variational structures intrinsically present in the nonholonomic setting, we study the structure of the equations of motion in a way that aids the analysis and helps to isolate the important geometric objects that govern the motion of such systems. Furthermore, we show that considering different sets of transpositional relations corresponding to different transitivity choices provides different variational structures associated with nonholonomic dynamics, but the derived equations (being referred to as the generalized Hamel–Voronets equations) are equivalent to the Lagrange–d’Alembert equations. To illustrate results of this work and as some applications of the generalized Hamel–Voronets formalisms discussed in this paper, we conclude with considering the balanced Tennessee racer, as well as its modification being referred to as the generalized nonholonomic cart, and an [Formula: see text]-snake with three wheeled planar platforms whose snake-like motion is induced by shape variations of the system.

Explicit Poincaré equations of motion for general constrained systems. Part I. Analytical results

2007 ◽  
Vol 463 (2082) ◽  
pp. 1421-1434 ◽  
Author(s):  
Firdaus E Udwadia ◽  
Phailaung Phohomsiri
Keyword(s):  
Equations Of Motion ◽  
Mechanical Systems ◽  
Nonholonomic Constraints ◽  
Constrained Systems ◽  
Analytical Results ◽  
Multi Body ◽  
D'alembert's Principle

This paper gives the general constrained Poincaré equations of motion for mechanical systems subjected to holonomic and/or nonholonomic constraints that may or may not satisfy d'Alembert's principle at each instant of time. It also extends Gauss's principle of least constraint to include quasi-accelerations when the constraints are ideal, thereby expanding the compass of this principle considerably. The new equations provide deeper insights into the dynamics of multi-body systems and point to new ways for controlling them.

Simulation of Constrained Mechanical Systems—Part II: Explicit Numerical Integration

2012 ◽  
Vol 79 (4) ◽  
Author(s):  
David J. Braun ◽  
Michael Goldfarb
Keyword(s):  
Mechanical Systems ◽  
Nonholonomic Constraints ◽  
Direct Consequence ◽  
Differential Algebraic Equations ◽  
Algebraic Equations ◽  
Constrained Motion ◽  
Constrained Mechanical Systems ◽  
Holonomic And Nonholonomic Constraints ◽  
Long Time ◽  
Constraint Correction

This paper presents an explicit to integrate differential algebraic equations (DAEs) method for simulations of constrained mechanical systems modeled with holonomic and nonholonomic constraints. The proposed DAE integrator is based on the equation of constrained motion developed in Part I of this work, which is discretized here using explicit ordinary differential equation schemes and applied to solve two nontrivial examples. The obtained results show that this integrator allows one to precisely solve constrained mechanical systems through long time periods. Unlike many other implicit DAE solvers which utilize iterative constraint correction, the presented DAE integrator is explicit, and it does not use any iteration. As a direct consequence, the present formulation is simple to implement, and is also well suited for real-time applications.

On the Boltzmann-Hamel Equations of Motion: A Vectorial Treatment

1994 ◽  
Vol 61 (2) ◽  
pp. 453-459 ◽  
Author(s):  
J. G. Papastavridis
Keyword(s):  
Equations Of Motion ◽  
Mechanical Systems ◽  
Nonholonomic Constraints ◽  
Discrete Mechanical Systems ◽  
The Common ◽  
Boltzmann Hamel Equations ◽  
Nonlinear Velocity

This paper presents a direct vectorial derivation of the famous Boltzmann-Hamel equations of motion of discrete mechanical systems, in general nonlinear nonholonomic coordinates and under general nonlinear (velocity) nonholonomic constraints. The connection between particle and system vectors is stressed throughout, in all relevant kinematic and kinetic quantities/principles/theorems. The specialization of these results to the common case of linear nonholonomic coordinates and linear nonholonomic (i.e., Pfaffian) constraints is carried out in the paper’s Appendix.

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