On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots
Abstract This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical syst...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Pappalardo, Carmine M. [verfasserIn] Guida, Domenico [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2018 |
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| Schlagwörter: |
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| Übergeordnetes Werk: |
Enthalten in: Archive of applied mechanics - Berlin : Springer, 1929, 89(2018), 4 vom: 15. Nov., Seite 669-698 |
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| Übergeordnetes Werk: |
volume:89 ; year:2018 ; number:4 ; day:15 ; month:11 ; pages:669-698 |
| Links: |
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| DOI / URN: |
10.1007/s00419-018-1491-6 |
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| Katalog-ID: |
SPR005482135 |
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| 100 | 1 | |a Pappalardo, Carmine M. |e verfasserin |4 aut | |
| 245 | 1 | 0 | |a On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots |
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| 520 | |a Abstract This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical systems subjected to a general set of holonomic and/or nonholonomic algebraic constraint equations. The approach developed in this work is based on the combination of two fundamental methods of analytical dynamics, namely the Udwadia–Kalaba equations and the Underactuation Equivalence Principle. While the Udwadia–Kalaba equations represent a fundamental mathematical tool of classical mechanics, the Underactuation Equivalence Principle is a new method recently discovered in the field of analytical dynamics and is associated with nonholonomic mechanical systems. In the paper, these two important analytical methods are discussed in detail. Furthermore, numerical experiments are performed in this investigation in order to demonstrate the effectiveness of the proposed approach considering as an illustrative example of a dynamic model a mobile robot. | ||
| 650 | 4 | |a Mechanical systems |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Forward dynamics |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Inverse dynamics |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Holonomic and nonholonomic constraints |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Uderactuated robots |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Udwadia–Kalaba equations |7 (dpeaa)DE-He213 | |
| 650 | 4 | |a Underactuation Equivalence Principle |7 (dpeaa)DE-He213 | |
| 700 | 1 | |a Guida, Domenico |e verfasserin |4 aut | |
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10.1007/s00419-018-1491-6 doi (DE-627)SPR005482135 (SPR)s00419-018-1491-6-e DE-627 ger DE-627 rakwb eng 690 ASE 50.31 bkl 50.32 bkl 50.33 bkl Pappalardo, Carmine M. verfasserin aut On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Abstract This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical systems subjected to a general set of holonomic and/or nonholonomic algebraic constraint equations. The approach developed in this work is based on the combination of two fundamental methods of analytical dynamics, namely the Udwadia–Kalaba equations and the Underactuation Equivalence Principle. While the Udwadia–Kalaba equations represent a fundamental mathematical tool of classical mechanics, the Underactuation Equivalence Principle is a new method recently discovered in the field of analytical dynamics and is associated with nonholonomic mechanical systems. In the paper, these two important analytical methods are discussed in detail. Furthermore, numerical experiments are performed in this investigation in order to demonstrate the effectiveness of the proposed approach considering as an illustrative example of a dynamic model a mobile robot. Mechanical systems (dpeaa)DE-He213 Forward dynamics (dpeaa)DE-He213 Inverse dynamics (dpeaa)DE-He213 Holonomic and nonholonomic constraints (dpeaa)DE-He213 Uderactuated robots (dpeaa)DE-He213 Udwadia–Kalaba equations (dpeaa)DE-He213 Underactuation Equivalence Principle (dpeaa)DE-He213 Guida, Domenico verfasserin aut Enthalten in Archive of applied mechanics Berlin : Springer, 1929 89(2018), 4 vom: 15. Nov., Seite 669-698 (DE-627)27012618X (DE-600)1476349-7 1432-0681 nnns volume:89 year:2018 number:4 day:15 month:11 pages:669-698 https://dx.doi.org/10.1007/s00419-018-1491-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_267 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 50.31 ASE 50.32 ASE 50.33 ASE AR 89 2018 4 15 11 669-698 |
| spelling |
10.1007/s00419-018-1491-6 doi (DE-627)SPR005482135 (SPR)s00419-018-1491-6-e DE-627 ger DE-627 rakwb eng 690 ASE 50.31 bkl 50.32 bkl 50.33 bkl Pappalardo, Carmine M. verfasserin aut On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Abstract This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical systems subjected to a general set of holonomic and/or nonholonomic algebraic constraint equations. The approach developed in this work is based on the combination of two fundamental methods of analytical dynamics, namely the Udwadia–Kalaba equations and the Underactuation Equivalence Principle. While the Udwadia–Kalaba equations represent a fundamental mathematical tool of classical mechanics, the Underactuation Equivalence Principle is a new method recently discovered in the field of analytical dynamics and is associated with nonholonomic mechanical systems. In the paper, these two important analytical methods are discussed in detail. Furthermore, numerical experiments are performed in this investigation in order to demonstrate the effectiveness of the proposed approach considering as an illustrative example of a dynamic model a mobile robot. Mechanical systems (dpeaa)DE-He213 Forward dynamics (dpeaa)DE-He213 Inverse dynamics (dpeaa)DE-He213 Holonomic and nonholonomic constraints (dpeaa)DE-He213 Uderactuated robots (dpeaa)DE-He213 Udwadia–Kalaba equations (dpeaa)DE-He213 Underactuation Equivalence Principle (dpeaa)DE-He213 Guida, Domenico verfasserin aut Enthalten in Archive of applied mechanics Berlin : Springer, 1929 89(2018), 4 vom: 15. Nov., Seite 669-698 (DE-627)27012618X (DE-600)1476349-7 1432-0681 nnns volume:89 year:2018 number:4 day:15 month:11 pages:669-698 https://dx.doi.org/10.1007/s00419-018-1491-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_267 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 50.31 ASE 50.32 ASE 50.33 ASE AR 89 2018 4 15 11 669-698 |
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10.1007/s00419-018-1491-6 doi (DE-627)SPR005482135 (SPR)s00419-018-1491-6-e DE-627 ger DE-627 rakwb eng 690 ASE 50.31 bkl 50.32 bkl 50.33 bkl Pappalardo, Carmine M. verfasserin aut On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Abstract This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical systems subjected to a general set of holonomic and/or nonholonomic algebraic constraint equations. The approach developed in this work is based on the combination of two fundamental methods of analytical dynamics, namely the Udwadia–Kalaba equations and the Underactuation Equivalence Principle. While the Udwadia–Kalaba equations represent a fundamental mathematical tool of classical mechanics, the Underactuation Equivalence Principle is a new method recently discovered in the field of analytical dynamics and is associated with nonholonomic mechanical systems. In the paper, these two important analytical methods are discussed in detail. Furthermore, numerical experiments are performed in this investigation in order to demonstrate the effectiveness of the proposed approach considering as an illustrative example of a dynamic model a mobile robot. Mechanical systems (dpeaa)DE-He213 Forward dynamics (dpeaa)DE-He213 Inverse dynamics (dpeaa)DE-He213 Holonomic and nonholonomic constraints (dpeaa)DE-He213 Uderactuated robots (dpeaa)DE-He213 Udwadia–Kalaba equations (dpeaa)DE-He213 Underactuation Equivalence Principle (dpeaa)DE-He213 Guida, Domenico verfasserin aut Enthalten in Archive of applied mechanics Berlin : Springer, 1929 89(2018), 4 vom: 15. Nov., Seite 669-698 (DE-627)27012618X (DE-600)1476349-7 1432-0681 nnns volume:89 year:2018 number:4 day:15 month:11 pages:669-698 https://dx.doi.org/10.1007/s00419-018-1491-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_267 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 50.31 ASE 50.32 ASE 50.33 ASE AR 89 2018 4 15 11 669-698 |
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10.1007/s00419-018-1491-6 doi (DE-627)SPR005482135 (SPR)s00419-018-1491-6-e DE-627 ger DE-627 rakwb eng 690 ASE 50.31 bkl 50.32 bkl 50.33 bkl Pappalardo, Carmine M. verfasserin aut On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Abstract This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical systems subjected to a general set of holonomic and/or nonholonomic algebraic constraint equations. The approach developed in this work is based on the combination of two fundamental methods of analytical dynamics, namely the Udwadia–Kalaba equations and the Underactuation Equivalence Principle. While the Udwadia–Kalaba equations represent a fundamental mathematical tool of classical mechanics, the Underactuation Equivalence Principle is a new method recently discovered in the field of analytical dynamics and is associated with nonholonomic mechanical systems. In the paper, these two important analytical methods are discussed in detail. Furthermore, numerical experiments are performed in this investigation in order to demonstrate the effectiveness of the proposed approach considering as an illustrative example of a dynamic model a mobile robot. Mechanical systems (dpeaa)DE-He213 Forward dynamics (dpeaa)DE-He213 Inverse dynamics (dpeaa)DE-He213 Holonomic and nonholonomic constraints (dpeaa)DE-He213 Uderactuated robots (dpeaa)DE-He213 Udwadia–Kalaba equations (dpeaa)DE-He213 Underactuation Equivalence Principle (dpeaa)DE-He213 Guida, Domenico verfasserin aut Enthalten in Archive of applied mechanics Berlin : Springer, 1929 89(2018), 4 vom: 15. Nov., Seite 669-698 (DE-627)27012618X (DE-600)1476349-7 1432-0681 nnns volume:89 year:2018 number:4 day:15 month:11 pages:669-698 https://dx.doi.org/10.1007/s00419-018-1491-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_267 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 50.31 ASE 50.32 ASE 50.33 ASE AR 89 2018 4 15 11 669-698 |
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10.1007/s00419-018-1491-6 doi (DE-627)SPR005482135 (SPR)s00419-018-1491-6-e DE-627 ger DE-627 rakwb eng 690 ASE 50.31 bkl 50.32 bkl 50.33 bkl Pappalardo, Carmine M. verfasserin aut On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Abstract This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical systems subjected to a general set of holonomic and/or nonholonomic algebraic constraint equations. The approach developed in this work is based on the combination of two fundamental methods of analytical dynamics, namely the Udwadia–Kalaba equations and the Underactuation Equivalence Principle. While the Udwadia–Kalaba equations represent a fundamental mathematical tool of classical mechanics, the Underactuation Equivalence Principle is a new method recently discovered in the field of analytical dynamics and is associated with nonholonomic mechanical systems. In the paper, these two important analytical methods are discussed in detail. Furthermore, numerical experiments are performed in this investigation in order to demonstrate the effectiveness of the proposed approach considering as an illustrative example of a dynamic model a mobile robot. Mechanical systems (dpeaa)DE-He213 Forward dynamics (dpeaa)DE-He213 Inverse dynamics (dpeaa)DE-He213 Holonomic and nonholonomic constraints (dpeaa)DE-He213 Uderactuated robots (dpeaa)DE-He213 Udwadia–Kalaba equations (dpeaa)DE-He213 Underactuation Equivalence Principle (dpeaa)DE-He213 Guida, Domenico verfasserin aut Enthalten in Archive of applied mechanics Berlin : Springer, 1929 89(2018), 4 vom: 15. Nov., Seite 669-698 (DE-627)27012618X (DE-600)1476349-7 1432-0681 nnns volume:89 year:2018 number:4 day:15 month:11 pages:669-698 https://dx.doi.org/10.1007/s00419-018-1491-6 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_206 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_267 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2070 GBV_ILN_2086 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2116 GBV_ILN_2118 GBV_ILN_2119 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 50.31 ASE 50.32 ASE 50.33 ASE AR 89 2018 4 15 11 669-698 |
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Enthalten in Archive of applied mechanics 89(2018), 4 vom: 15. Nov., Seite 669-698 volume:89 year:2018 number:4 day:15 month:11 pages:669-698 |
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Mechanical systems Forward dynamics Inverse dynamics Holonomic and nonholonomic constraints Uderactuated robots Udwadia–Kalaba equations Underactuation Equivalence Principle |
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Pappalardo, Carmine M. @@aut@@ Guida, Domenico @@aut@@ |
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<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">SPR005482135</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20220110182516.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">201001s2018 xx |||||o 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1007/s00419-018-1491-6</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)SPR005482135</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(SPR)s00419-018-1491-6-e</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="082" ind1="0" ind2="4"><subfield code="a">690</subfield><subfield code="q">ASE</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">50.31</subfield><subfield code="2">bkl</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">50.32</subfield><subfield code="2">bkl</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">50.33</subfield><subfield code="2">bkl</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Pappalardo, Carmine M.</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2018</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical systems subjected to a general set of holonomic and/or nonholonomic algebraic constraint equations. The approach developed in this work is based on the combination of two fundamental methods of analytical dynamics, namely the Udwadia–Kalaba equations and the Underactuation Equivalence Principle. While the Udwadia–Kalaba equations represent a fundamental mathematical tool of classical mechanics, the Underactuation Equivalence Principle is a new method recently discovered in the field of analytical dynamics and is associated with nonholonomic mechanical systems. In the paper, these two important analytical methods are discussed in detail. Furthermore, numerical experiments are performed in this investigation in order to demonstrate the effectiveness of the proposed approach considering as an illustrative example of a dynamic model a mobile robot.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Mechanical systems</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Forward dynamics</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Inverse dynamics</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Holonomic and nonholonomic constraints</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Uderactuated robots</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Udwadia–Kalaba equations</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Underactuation Equivalence Principle</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Guida, Domenico</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">Archive of applied mechanics</subfield><subfield code="d">Berlin : Springer, 1929</subfield><subfield code="g">89(2018), 4 vom: 15. 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Pappalardo, Carmine M. |
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Pappalardo, Carmine M. ddc 690 bkl 50.31 bkl 50.32 bkl 50.33 misc Mechanical systems misc Forward dynamics misc Inverse dynamics misc Holonomic and nonholonomic constraints misc Uderactuated robots misc Udwadia–Kalaba equations misc Underactuation Equivalence Principle On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots |
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690 ASE 50.31 bkl 50.32 bkl 50.33 bkl On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots Mechanical systems (dpeaa)DE-He213 Forward dynamics (dpeaa)DE-He213 Inverse dynamics (dpeaa)DE-He213 Holonomic and nonholonomic constraints (dpeaa)DE-He213 Uderactuated robots (dpeaa)DE-He213 Udwadia–Kalaba equations (dpeaa)DE-He213 Underactuation Equivalence Principle (dpeaa)DE-He213 |
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ddc 690 bkl 50.31 bkl 50.32 bkl 50.33 misc Mechanical systems misc Forward dynamics misc Inverse dynamics misc Holonomic and nonholonomic constraints misc Uderactuated robots misc Udwadia–Kalaba equations misc Underactuation Equivalence Principle |
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on the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots |
| title_auth |
On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots |
| abstract |
Abstract This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical systems subjected to a general set of holonomic and/or nonholonomic algebraic constraint equations. The approach developed in this work is based on the combination of two fundamental methods of analytical dynamics, namely the Udwadia–Kalaba equations and the Underactuation Equivalence Principle. While the Udwadia–Kalaba equations represent a fundamental mathematical tool of classical mechanics, the Underactuation Equivalence Principle is a new method recently discovered in the field of analytical dynamics and is associated with nonholonomic mechanical systems. In the paper, these two important analytical methods are discussed in detail. Furthermore, numerical experiments are performed in this investigation in order to demonstrate the effectiveness of the proposed approach considering as an illustrative example of a dynamic model a mobile robot. |
| abstractGer |
Abstract This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical systems subjected to a general set of holonomic and/or nonholonomic algebraic constraint equations. The approach developed in this work is based on the combination of two fundamental methods of analytical dynamics, namely the Udwadia–Kalaba equations and the Underactuation Equivalence Principle. While the Udwadia–Kalaba equations represent a fundamental mathematical tool of classical mechanics, the Underactuation Equivalence Principle is a new method recently discovered in the field of analytical dynamics and is associated with nonholonomic mechanical systems. In the paper, these two important analytical methods are discussed in detail. Furthermore, numerical experiments are performed in this investigation in order to demonstrate the effectiveness of the proposed approach considering as an illustrative example of a dynamic model a mobile robot. |
| abstract_unstemmed |
Abstract This paper deals with the dynamics and control of underactuated nonholonomic mechanical systems. It is shown in this investigation that the same analytical methods can be used for effectively solving both the forward and the inverse dynamic problems relative to underactuated mechanical systems subjected to a general set of holonomic and/or nonholonomic algebraic constraint equations. The approach developed in this work is based on the combination of two fundamental methods of analytical dynamics, namely the Udwadia–Kalaba equations and the Underactuation Equivalence Principle. While the Udwadia–Kalaba equations represent a fundamental mathematical tool of classical mechanics, the Underactuation Equivalence Principle is a new method recently discovered in the field of analytical dynamics and is associated with nonholonomic mechanical systems. In the paper, these two important analytical methods are discussed in detail. Furthermore, numerical experiments are performed in this investigation in order to demonstrate the effectiveness of the proposed approach considering as an illustrative example of a dynamic model a mobile robot. |
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On the dynamics and control of underactuated nonholonomic mechanical systems and applications to mobile robots |
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https://dx.doi.org/10.1007/s00419-018-1491-6 |
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2024-07-03T16:38:02.071Z |
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| score |
7.4019136 |