On First-Order Decoupling of Equations of Motion for Constrained Dynamical Systems

DOI10.1115/1.2895905zbMath0824.70007OpenAlexW2077138502MaRDI QIDQ4835205

T. A. Loduha, B. Ravanii

Publication date: 9 November 1995

Published in: Journal of Applied Mechanics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2895905

zbMATH Keywords

Kane's equationsgeneralized velocitiesrigid multibody systemgeneralized positionsnon-holonomic motion

Mathematics Subject Classification ID

Free motion of a rigid body (70E15) Holonomic systems related to the dynamics of a system of particles (70F20)

Related Items (12)

Velocity controller for a class of vehicles ⋮ A survey of equations of motion in terms of inertial quasi-velocities for serial manipulators ⋮ First-order form, Lagrange's form, and Gibbs-Appell's form of Kane's equations ⋮ Modified set-point controller for underwater vehicles ⋮ Nonlinear trajectory tracking controller for a class of robotic vehicles ⋮ Dynamical couplings reduction for rigid manipulators using generalized velocity components ⋮ Strict Lyapunov function for sliding mode control of manipulator using quasi-velocities ⋮ Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction ⋮ Trajectory tracking control algorithm in terms of quasi-velocities for a class of vehicles ⋮ A quasi-velocity-based nonlinear controller for rigid manipulators ⋮ Sliding mode control of manipulators using first-order equations of motion with diagonal mass matrix ⋮ Constrained Lagrangian dynamics based on reduced quasi-velocities and quasi-forces

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