scholarly journals Discussion: “Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement” (Saha, S.K., and Angeles, J., 1991, ASME J. Appl Mech., 58, pp. 238–243)

1992 ◽  
Vol 59 (1) ◽  
pp. 242-243
Author(s):  
John G. Papastavridis
Keyword(s):  
Mechanical Systems ◽  
Orthogonal Complement ◽  
Nonholonomic Mechanical Systems

Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement

1991 ◽  
Vol 58 (1) ◽  
pp. 238-243 ◽  
Author(s):  
Subir Kumar Saha ◽  
Jorge Angeles
Keyword(s):  
Mechanical Systems ◽  
Nonholonomic Constraints ◽  
Rigid Bodies ◽  
Orthogonal Complement ◽  
Constraint Equations ◽  
Nonholonomic Mechanical Systems ◽  
Holonomic And Nonholonomic Constraints ◽  
Automatic Guided Vehicle ◽  
The Matrix ◽  
Velocity Constraint

The dynamics equations governing the motion of mechanical systems composed of rigid bodies coupled by holonomic and nonholonomic constraints are derived. The underlying method is based on a natural orthogonal complement of the matrix associated with the velocity constraint equations written in linear homogeneous form. The method is applied to the classical example of a rolling disk and an application to a 2-dof Automatic Guided Vehicle is outlined.

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