Recently I am trying to give a simple (at least conseptually) nonholonomic
constraint to a simple two wheeled cart module which will become sub module of serial robot.
The constraint is that there will be no side slip, i.e. the lateral velocity
of the cart will be zero.
For example let (x,y,theta) be the x coordinate, y coodrinate and orientation
of the cart with respect to the inertial fixed frame ,respectively.
Then the constraint becomes: xdot*cos(theta)=ydot*sin(theta)
Do you know how to define this constraint?