Nonholonomic相关论文
NONSIMULTANEOUS VARIATIONAL EQUATIONS AND STRUCTURE OF INTEGRAL INVARIANT FOR NONHOLONOMIC DYNAMICAL
Ⅰ. INTRODUCTIONWhittaker first studied the relation between the first integral and integral invariant, and proved that ......
By the generalized variational principle of two kinds of variables in general mechanics, it was demonstrated that two La......
该文从挂篮荷载计算、施工流程、支座及临时固结施工、挂篮安装及试验、合拢段施工、模板制作安装、钢筋安装、混凝土的浇筑及养生......
The exponential stabilization problem of a robot-camera system with unknown camera parameters is investigated. Based on ......
The virtual prototype of the type of under-actuated manipulator was established under the Solidworks. It is proved that ......
利用附加惯性力的方法建立了非惯性系中变质量力学系统的Gauss变分原理,由此得到了非惯性系中变质量非完整系统运动方程的各种形式......
【正】 In this paper,we study the Noether-form invariance of nonholonomic mechanical controllable systems inphase space.......
自由漂浮空间机械臂系统在无外力矩作用时,系统的动量矩守恒而成为非完整系统。利用这一特性本文研究了自由漂浮空间机械臂系统的......
针对双目视觉伺服的非完整移动机器人轨迹跟踪问题，研究了目标轨迹的识别定位及相关信息提取的辨识方法。结合非完整约束特性对（2，0）型......
For conservative linear homogeneous nonholonomic systems, there exists a cotangent bundle with the symplectic structure ......
基于运动学模型和状态变换,研究了一类带有未知参数的不确定系统的镇定问题.运用辅助变量和控制输入两种方法分别设计控制器,使系......
给出一种轮式移动机器人系统的受非完整约束的动态模型.基于此模型应用了非线性反馈精确线性化方法进行了机器人路径跟踪控制系统......
研究非完整系统的Lie对称性与Noether对称性及其间的关系,具体研究了Chetaev型变质量非完整系统和非Chetaev型非完整系统的Lie对称......
给出了事件空间中的变质量Ｄ’Ａｌｅｍｂｅｒｔ－Ｌａｇｒａｎｇｅ原理；其次基于该原理在无限小变换群作用下的不变性，得到变质量非完整的守恒律；最后举例说明结果的应用。......
从物体系转动相对论性基本形式的D'Alembert原理出发,考虑力矩是角坐标θ、角速度θ和时间t的函数,引入转动相对论系统的广义......
对非完整非保守系统积分不变量进行构造,从而可将非完整保守系统的积分不变量推广到非完整非保守系统.......
利用时间不变的无限小变化下的Lie对称性,研究变质量非完整力学系统的一类新的守恒量.给出系统的运动微分方程.研究时间不变的无限......
基于非完整理论,将摩擦圆盘运动分解合成机构作为关节传动部件,提出了一种新型并链式非完整机械臂,并针对这种四关节机械臂建立了......
针对在非完整移动操作臂（NMM）系统协调控制中传统解耦线性化方法所带来的局部线性化及近似线性化等问题，采用微分几何方法，通过适当的......
在增广相空间中研究一般动力学系统的精确不变量与绝热不变量，建立了该空间中力学系统的对称性与不变量之间的关系，提出了一般动力学......
分析了具有不确定性和非完整约束的车式移动机器人系统的轨迹跟踪问题．基于运动学模型分析，提出一种自适应的轨迹跟踪控制方法．通过引......
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In this paper,we first study the latent relation between the conservative quantityand the symmetry of nonholonomic dynam......
The perturbations of nonholonomic mechanical systems under the Gauss white noises are studied in this paper.It is proved......
This paper establishes the integral theory for the dynamics of nonlinearnonholonomic system in noninertial reference fra......
Bertrand’s theorem for the determination of the applied forces to a holonomicsystem from one of its first integrals,is ......
In this paper,Routh’s equations for the mechanical systems of the variable masswith nonlinear nonholonomic constraints ......
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In this paper conservation laws of nonholonomic nonconservative dynamical systems arestudied by using the differential v......
In this paper,the field method for solving the equations of motion of holonomicnonconservative systems is extended to no......
For first-order nonlinear nonholonomic systems,the present paper proves that thed-δ operations are commutative and deri......
This paper uses Poincaré formalism to extend the Levi-Civita theorem to cope with nonholonomic sys-tems admitting c......
PARAMETRIC EQUATIONS OF NONHOLONOMIC NONCONSERVATIVE SYSTEMS IN THE EVENT SPACE AND THE METHOD OF TH
In this paper,the parametric equations with multipliers of nonholonomic nonconservative sys-tems in the event space are ......
In this paper,the Gibbs-Appell’s equations of motion are extended to the most generalvariable mass nonholonomic mechani......
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The Lie symmetries and the conserved quantities of the second-order nonholonomic mechanical system are studied. Firstly,......
The Lie symmetries and the conserved quantities of a variable mass nonholonomic system of non-Chetaev's type are stu......
A mechanical model of skating motion was founded, and its solution was obtained by using the Routh's equations in no......
The conservation law of nonholonomic system of second-order non-Chatae's type in event space is studied. The Jourdai......
本文研究相空间中非ЧTAEB型非完整系统的Mei对称性，给出相空间中非ЧETAEB型非完整系统Mei对称性的定义和判据，得到Mei对称性的结构......
本文讨论带滑移铰空间机械臂非完整运动规划的最优控制问题。利用系统的非完整特性，将带滑移铰空间机械臂运动规划转化为非线性系统......
This paper deals with the theoretic simulation of a drill bit whirling under conditions of its contact interaction with ......
In this paper, a new controller is proposed by using backstepping method for the trajectory tracking problem of nonholon......
Most differential drive platforms are equipped with two independent actuators and casters. The positions of the gravity ......
A Novel Generalized Nonholonomy Criteria and Physical Interpretation of Holonomic/Nonholonomic Const
This paper presents a new nonholonomy criteria and reveals the physical interpretation of holonomoic and nonholonomic co......
为 non-holonomic 限制机器人，决定它的结束受动器的姿势将依靠它的关节的排水量和它的 non-holonomic 限制的速度作为 well.Theref......
