Author Topic: Nonholonomic constraints in Matlab Simmechanics  (Read 2297 times)

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archird

• Beginner
• Posts: 2
Nonholonomic constraints in Matlab Simmechanics
« on: March 30, 2009, 07:21:39 AM »
Hello there,

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?

Thanks

• Supreme Robot
• Posts: 11,680
Re: Nonholonomic constraints in Matlab Simmechanics
« Reply #1 on: May 07, 2009, 06:49:02 PM »
Quote
the lateral velocity of the cart will be zero.
Do you know how to define this constraint?

xdot=0
xdotdot=0

archird

• Beginner
• Posts: 2
Re: Nonholonomic constraints in Matlab Simmechanics
« Reply #2 on: May 13, 2009, 12:45:13 AM »

xdot=0
xdotdot=0

I suppose you mean xdot=0 and xdotdot=0 in "local body coordinate frame". Is is it possible to give
constraints in body coordinate frame?

Thanks

• Supreme Robot
• Posts: 11,680