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arXiv · 1002.4733

Simulating Nonholonomic Dynamics

M. Kobilarov·D. Martín de Diego·S. Ferraro
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Abstract

This paper develops different discretization schemes for nonholonomic mechanical systems through a discrete geometric approach. The proposed methods are designed to account for the special geometric structure of the nonholonomic motion. Two different families of nonholonomic integrators are developed and examined numerically: the geometric nonholonomic integrator (GNI) and the reduced d'Alembert-Pontryagin integrator (RDP). As a result, the paper provides a general tool for engineering applications, i.e. for automatic derivation of numerically accurate and stable dynamics integration schemes applicable to a variety of robotic vehicle models.

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M. Kobilarov, D. Martín de Diego, S. Ferraro. 2010-02-25. Simulating Nonholonomic Dynamics. https://arxiv.org/abs/1002.4733

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