GEOMETRIC DESCRIPTION OF VAKONOMIC AND NONHOLONOMIC DYNAMICS. COMPARISON OF SOLUTIONS
GEOMETRIC DESCRIPTION OF VAKONOMIC AND NONHOLONOMIC DYNAMICS. COMPARISON OF SOLUTIONS
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DOI：
10.1137/s036301290036817x
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发表时间：
2003-01-01
影响因子：
2.2
通讯作者：
Martinez, S.
中科院分区：
文献类型：
--
作者：
Cortes, J.;de Leon, M.;Martinez, S.
我们在一个新的几何框架内处理具有一般约束的机器人动力学问题，这对于研究最优控制问题是有用的。在线性约束的情况下，我们将我们的公式与Vershik和Gershkovich的公式进行比较。我们展示了非完整力学如何也承认一种新的几何描述，它允许我们开发一种算法来比较两种动力学的解。并举例说明该理论。
We treat the vakonomic dynamics with general constraints within a new geometric framework, which can be useful in the study of optimal control problems. We compare our formulation with the one of Vershik and Gershkovich in the case of linear constraints. We show how nonholonomic mechanics also admits a new geometrical description which allows us to develop an algorithm of comparison between the solutions of both dynamics. Examples illustrating the theory are treated.