DYNAMICS OF NONHOLONOMIC MECHANICAL SYSTEMS USING A NATURAL ORTHOGONAL COMPLEMENT

被引：70

作者：

SAHA, SK ^{[1
]}

ANGELES, J ^{[1
]}

机构：

[1] MCGILL UNIV, MCGILL RES CTR INTELLIGENT MACHINES, DEPT MECH ENGN, MONTREAL H3A 2T5, QUEBEC, CANADA

来源：

JOURNAL OF APPLIED MECHANICS-TRANSACTIONS OF THE ASME | 1991年 / 58卷 / 01期

关键词：

D O I：

10.1115/1.2897157

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

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.

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页码：238 / 243

页数：6

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