Equations of motion for constrained multibody systems and their control (Q2499365)

The author proposes equations of motion for mechanical systems with constraints of different nature (ideal and nonideal, holonomic and nonholonomic). The equations are obtained as a result of mathematical transformations of equations of motion in generalized coordinates by using the equations of constraints. Applications of the equations obtained to concrete systems are absent, and the correctness of the equations and domain of their validity are not discussed.