- Tytuł:
- Engineering example of the constraint forces in non-holonomic mechanical: forklift-truck robot motion. Part I
- Autorzy:
-
Haddout, S.
Guennoun, M. A.
Chen, Z. - Powiązania:
- https://bibliotekanauki.pl/articles/230034.pdf
- Data publikacji:
- 2018
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
forklift-truck robot
Lagrangian systems
nonholonomic constraints
reduced equations of motion
numerical solution - Opis:
- In the presented paper, a problem of nonholonomic constrained mechanical systems is treated. New methods in nonholonomic mechanics are applied to a problem of a Forklift-truck robot motion. This method of the geometrical theory of general nonholonomic constrained systems on fibered manifolds and their jet prolongations, based on so-called Chetaev-type constraint forces. The relevance of this theory for general types of nonholonomic constraints, not only linear or affine ones, was then verified on appropriate models. On the other hand, the equations of motion of a Forklift-truck robot are highly nonlinear and rolling without slipping condition can only be expressed by nonholonomic constraint equations. In this paper, the geometrical theory is applied to the above mentioned mechanical problem. The results of numerical solutions of constrained equations of motion, derived within the theory, are presented.
- Źródło:
-
Archives of Control Sciences; 2018, 28, 3; 483-506
1230-2384 - Pojawia się w:
- Archives of Control Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł