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Conference Papers Year : 2003

Explicit formula for a general integral of motion for a class of mechanical systems subject to holonomic constraint

Abstract

The paper suggests an explicit form of a general integral of motion for the dynamics of a mechanical system with n degrees of freedom, while the system is subject to n − 1 holonomic constraints. The computation of this integral is given for the cart-pendulum with three different holonomic constraints.
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Dates and versions

hal-01091637 , version 1 (05-12-2014)

Identifiers

  • HAL Id : hal-01091637 , version 1

Cite

J.-W. Perram, Anton Shiriaev, Carlos Canudas de Wit, Frédéric Grognard. Explicit formula for a general integral of motion for a class of mechanical systems subject to holonomic constraint. 2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Mar 2004, Sevilla, Spain. pp.99-104. ⟨hal-01091637⟩
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