2024/05/16 by Federico Talamucci, Talamucci, Federico
Computer Science · Engineering · #Classical Physics (physics.class-ph) #Control and Dynamics of Mobile Robots #Dynamics and Control of Mechanical Systems #FOS: Physical sciences #Mathematical Physics (math-ph) #Robotic Path Planning Algorithms
paper · pdf · doi:10.48550/arxiv.2405.13029
openalex publication_date 2024/05/16 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
The aim of this study is to present an alternative way to deduce the equations of motion of general (i.e., also nonlinear) nonholonomic constrained systems starting from the d'Alembert principle and proceeding by an algebraic procedure. The two classical approaches in nonholonomic mechanics -- Cetaev method and vakonomic method -- are treated on equal terms, avoiding integrations or other steps outside algebraic operations. In the second part of the work we compare our results with the standard forms of the equations of motion associated to the two method and we discuss the role of the transpositional relation and of the commutation rule within the question of equivalence and compatibility of the Cetaev and vakonomic methods for general nonholonomic systems.