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Published 2010 | public
Journal Article

Simulating Nonholonomic Dynamics

Abstract

This paper develops different discretization schemes for nonholonomic mechanical systems through a discrete geometric approach. The proposed methods are designed to account for the special geometric structure of the nonholonomic motion. Two different families of nonholonomic integrators are developed and examined numerically: the geometric nonholonomic integrator (GNI) and the reduced d'Alembert-Pontryagin integrator (RDP). As a result, the paper provides a general tool for engineering applications, i.e. for automatic derivation of numerically accurate and stable dynamics integration schemes applicable to a variety of robotic vehicle models.

Additional Information

© 2010 Sociedad Española de Matemática Aplicada.

Additional details

Created:
August 19, 2023
Modified:
October 20, 2023