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Algorithms for reactions of nonholonomic constraints and servo-constraints
Creator: Publisher:Polish Scientific Publishers IFTR
Place of publishing: Date issued/created: Description:Od Vol. 43, issue 1 (1991) wyd.: Polish Scientific Publishers = PWN ; Od Vol. 50, issue 4 (1998) wyd.: Agencja Reklamowo-Wydawnicza A. Grzegorczyk ; Od Vol. 53, issue 4/5 (2001) wyd: PAS. IFTR ; [1], 561-698 s. ; 24 cm
Type of object: Subject and Keywords:Mechanika stosowana - czasopisma [KABA]
Abstract:Various procedures for deriving equations of motion of constrained mechanical systems are discussed and compared. A geometric interpretation of the procedures is given, stressing both linear and nonlinear nonholonomic constraints. Certain qualitative differences are analyzed between models of nonholonomic dynamics based on different procedures. Two algorithms of particular interest are: (1) the d'Alembert principle and its Appell-Tshetajev generalization, and (2) the variational Hamiltonian principle with subsidiary conditions. It is argued that the Hamiltonian principle, although not accepted in traditional technical applications, is more promising in generalizations concerning systems with higher differential constraints, or the more general functional constraints appearing in feedback and control systems.
Relation: Volume: Issue: Start page: End page: Resource type: Detailed Resource Type: Source:IPPT PAN, call no. P.262 ; click here to follow the link
Language: Language of abstract: Rights:Creative Commons Attribution BY 4.0 license
Terms of use:Copyright-protected material. [CC BY 4.0] May be used within the scope specified in Creative Commons Attribution BY 4.0 license, full text available at: ; -
Digitizing institution:Institute of Fundamental Technological Research of the Polish Academy of Sciences
Original in:Library of the Institute of Fundamental Technological Research of The Polish Academy of Sciences
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