Kinematic and Geometric Constraints, Servomechanisms and Control of Mechanical Systems
نویسنده
چکیده
Kinematic and geometric constraints, servomechanisms and control of mechanical systems En hommage amical au Professeur Tulczyjew, dont les travaux sont une source constante d'inspiration.
منابع مشابه
Various Approaches to Conservative and Nonconservative Nonholonomic Systems
We propose a geometric setting for the Hamiltonian description of mechanical systems with a nonholonomic constraint, which may be used for constraints of general type (non-linear in the velocities, and such that the constraint forces may not obey Chetaev's rule). Such constraints may be realized by servomechanisms; therefore, the corresponding mechanical system may be nonconservative. In that s...
متن کاملControllable kinematic reductions for mechanical systems: concepts, computational tools, and examples
This paper introduces the novel notion of kinematic reductions for mechanical systems and studies their controllability properties. We focus on the class of simple mechanical control systems with constraints and model them as a ne connection control systems. For these systems, a kinematic reduction is a driftless control system whose controlled trajectories are also solutions to the full dynami...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملModeling and controllability for a class of hybrid mechanical systems
This work studies a class of hybrid mechanical systems that locomote by switching between constraints defining different dynamic regimes. We develop a geometric framework for modeling smooth phenomena such as inertial forces, holonomic, and nonholonomic constraints, as well as discrete features such as transitions between smooth dynamic regimes through plastic and elastic impacts. We focus on d...
متن کامل