Published 2010
| public
Journal Article
Simulating Nonholonomic Dynamics
- Creators
- Kobilarov, M.
- De Diego, D. Martín
- Ferraro, S.
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
- Eprint ID
- 19837
- Resolver ID
- CaltechAUTHORS:20100908-134511959
- Created
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2010-09-15Created from EPrint's datestamp field
- Updated
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2023-06-02Created from EPrint's last_modified field