RIA: Repeatability in Nonholonomic Mechanical Systems

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9410157 Mukherjee This project deals with the planning of closed paths for non holonmic systems which are characterized by the non- integrable nature of their differential constraints. These constraints manifest themselves in a way that closed trajectories of the independent variables of the system result in a change in the dependent variables. In certain nonholonomic systems, closed paths in the space of independent variables can be so designed that the net change of dependent variables is zero over these closed paths. Such systems are important in a manufacturing environment for example, kinetically redundant manipulators operating under pseudo inverse control ***