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Archive of Applied Mechanics
Erschienen in: Archive of Applied Mechanics 4/2019

15.11.2018 | Original

On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots

verfasst von: Carmine M. Pappalardo, Domenico Guida

Erschienen in: Archive of Applied Mechanics | Ausgabe 4/2019

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Abstract

This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical systems subjected to a general set of holonomic and/or nonholonomic algebraic constraint equations. The approach developed in this work is based on the combination of two fundamental methods of analytical dynamics, namely the Udwadia–Kalaba equations and the Underactuation Equivalence Principle. While the Udwadia–Kalaba equations represent a fundamental mathematical tool of classical mechanics, the Underactuation Equivalence Principle is a new method recently discovered in the field of analytical dynamics and is associated with nonholonomic mechanical systems. In the paper, these two important analytical methods are discussed in detail. Furthermore, numerical experiments are performed in this investigation in order to demonstrate the effectiveness of the proposed approach considering as an illustrative example of a dynamic model a mobile robot.
Vorheriger Artikel Longitudinal wave speed in auxetic plates with elastic constraint in width direction
Nächster Artikel Hybrid uncertain analysis for random convex response of structures with a mixture of random and convex properties

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Metadaten
Titel
On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots
verfasst von
Carmine M. Pappalardo
Domenico Guida
Publikationsdatum
15.11.2018
Verlag
Springer Berlin Heidelberg
Erschienen in
Archive of Applied Mechanics / Ausgabe 4/2019
Print ISSN: 0939-1533
Elektronische ISSN: 1432-0681
DOI
https://doi.org/10.1007/s00419-018-1491-6

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