The paper suggests an explicit form of a general integral of motion for the dynamics of a mechanical system with n degrees of freedom, while the system is subject to n − 1 holonomic constraints. The computation of this integral is given for the cart-pendulum with three different holonomic constraints.
Publié le : 2004-03-04
Classification:
Mechanical systems,
conserved quantities,
holonomic constraints,
zero dynamics,
[MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC],
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering
@article{hal-01091637,
author = {Perram, J.-W. and Shiriaev, Anton and Canudas de Wit, Carlos and Grognard, Fr\'ed\'eric},
title = {Explicit formula for a general integral of motion for a class of mechanical systems subject to holonomic constraint},
journal = {HAL},
volume = {2004},
number = {0},
year = {2004},
language = {en},
url = {http://dml.mathdoc.fr/item/hal-01091637}
}
Perram, J.-W.; Shiriaev, Anton; Canudas de Wit, Carlos; Grognard, Frédéric. Explicit formula for a general integral of motion for a class of mechanical systems subject to holonomic constraint. HAL, Tome 2004 (2004) no. 0, . http://gdmltest.u-ga.fr/item/hal-01091637/