Generalized Chaplygin's transformation and explicit integration of a system with a spherical support

DOI10.1134/S1560354712020062zbMath1253.37063OpenAlexW1967887276MaRDI QIDQ691228

Alexey V. Borisov, Alexander A. Kilin, Ivan. S. Mamaev

Publication date: 30 November 2012

Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1134/s1560354712020062

zbMATH Keywords

isomorphismbifurcation analysisspherical supportnonholonomic mechanicsChaplygin ballexplicit integration

Mathematics Subject Classification ID

Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Constrained dynamics, Dirac's theory of constraints (70H45) Nonholonomic systems related to the dynamics of a system of particles (70F25) Motion of a rigid body in contact with a solid surface (70E18) Nonholonomic dynamical systems (37J60)

Related Items (20)

Spherical robot of combined type: dynamics and control ⋮ On the Hadamard-Hamel problem and the dynamics of wheeled vehicles ⋮ Adiabatic invariants, diffusion and acceleration in rigid body dynamics ⋮ How to control the Chaplygin ball using rotors. II ⋮ The Euler-Jacobi-Lie integrability theorem ⋮ Topological analysis of an integrable system related to the rolling of a ball on a sphere ⋮ Dynamical systems with non-integrable constraints, vakonomic mechanics, sub-Riemannian geometry, and non-holonomic mechanics ⋮ The Integrable Problem of the Rolling Motion of a Dynamically Symmetric Spherical Top with One Nonholonomic Constraint ⋮ Integrable discretization and deformation of the nonholonomic Chaplygin ball ⋮ Dynamics of the Chaplygin ball on a rotating plane ⋮ The problem of drift and recurrence for the rolling Chaplygin ball ⋮ Topological monodromy as an obstruction to Hamiltonization of nonholonomic systems: pro or contra? ⋮ Open problems in the theory of finite-dimensional integrable systems and related fields ⋮ Integrable nonsmooth nonholonomic dynamics of a rubber wheel with sharp edges ⋮ Two non-holonomic integrable problems tracing back to Chaplygin ⋮ On the Poisson structures for the nonholonomic Chaplygin and Veselova problems ⋮ Bifurcation analysis of the dynamics of two vortices in a Bose-Einstein condensate. the case of intensities of opposite signs ⋮ The dynamics and control of a spherical robot with an internal omniwheel platform ⋮ Different models of rolling for a robot ball on a plane as a generalization of the Chaplygin ball problem ⋮ A particular integrable case in the nonautonomous problem of a Chaplygin sphere rolling on a vibrating plane

Cites Work

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• Rubber rolling over a sphere
• Rolling of a non-homogeneous ball over a sphere without slipping and twisting
• Two integrable nonholonomic systems in classical dynamics
• The dynamics of Chaplygin ball: the qualitative and computer analysis
• Nonholonomic manipulators.
• On a ball's rolling on a horizontal plane. Translated from the Russian 1903 original
• Control of single wheel robots.
• LR and L+R systems
• Controllability and motion planning of a multibody Chaplygin's sphere and Chaplygin's top

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