Simulating Nonholonomic Dynamics
Mathematical Physics
2010-02-26 v1 math.MP
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.
Cite
@article{arxiv.1002.4733,
title = {Simulating Nonholonomic Dynamics},
author = {M. Kobilarov and D. Martín de Diego and S. Ferraro},
journal= {arXiv preprint arXiv:1002.4733},
year = {2010}
}