Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement

DOI10.1115/1.2897157MaRDI QIDQ4019600zbMATH OpenOpenAlexFDO

Authors Subir Kumar Saha, J. Angeles

Publication date 16 January 1993

Published in Journal of Applied Mechanics (Search for Journal in Brave)

Full work available at URL https://semanticscholar.org/paper/76a49a15dedd10835ac809e08f32735f6cd494f9

zbMATH Keywords

2-dof automatic guided vehiclelinear homogeneous formrigid bodiesrolling diskvelocity constraint equations

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25)

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(11)

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• Dynamics modelling of hexaslides using the decoupled natural orthogonal complement matrices
• Dynamics and stability of a hybrid serial-parallel mobile robot
• Recursive modular modelling methodology for lumped-parameter dynamic systems
• Modeling of spherical robots rolling on generic surfaces
• Dynamics and cooperative object manipulation control of suspended mobile manipulators
• Double hyperbolic sliding mode control of a three-legged robot with actuator constraints
• Dynamics modeling of nonholonomic mechanical systems: Theory and applications

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