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