INVESTIGADORES
FERRARO Sebastian Jose
artículos
Título:
Simulating nonholonomic dynamics
Autor/es:
MARIN KOBILAROV; DAVID MARTÍN DE DIEGO; SEBASTIÁN J. FERRARO
Revista:
Boletín de la Sociedad Española de Matemática Aplicada
Editorial:
Sociedad Española de Matemática Aplicada
Referencias:
Lugar: Madrid ; Año: 2010 p. 61 - 82
ISSN:
1575-9822
Resumen:
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.
