Title
Creep kinematics of nonholonomic systems
Abstract
Most studies about nonholonomic systems were developed under the absolute relation of constraint equations. Such ideally constrained systems are known somewhat relaxed in real world, which are claimed as complementarily constrained problems. Systems with viscous frictions and/or flexibilities are typical cases at which the constraints are pseudo-violated rather than violated. These nonideal kinematics are treated in terms of nonholonomic creep behaviors, classified by two fundamental types: rotation creep and traverse creep. Creep coefficients are defined and proposed to illustrate the kinematical relations for such complementarily constrained systems. It can be shown that most nonholonomic vehicles can be described by both creep types, while the trailers attached to a car falls into the traverse type only. Therefore, we conclude the existing algorithms for nonholonomic motion planning and control should be modified as intrinsic creeps take place in nature. The creep notion can also be applied to the symmetry systems of conservation of angular momentum
Year
DOI
Venue
1995
10.1109/ROBOT.1995.525559
ICRA
Keywords
Field
DocType
friction,road vehicles,angular momentum,traverse creep,creep kinematics,mechanical engineering,nonlinear systems,constrained systems,rotation creep,nonholonomic motion planning,path planning,symmetry systems,creep coefficients,creep,kinematics,viscous frictions,nonholonomic systems,wheeled vehicles,motion control,tires,nonholonomic system
Motion planning,Angular momentum,Motion control,Kinematics,Nonlinear system,Control theory,Creep,Control engineering,Engineering,Nonholonomic system,Classical mechanics,Traverse
Conference
Volume
ISSN
ISBN
2
1050-4729
0-7803-1965-6
Citations 
PageRank 
References 
0
0.34
2
Authors
2
Name
Order
Citations
PageRank
Jiunn-Cherng Wang100.68
Han-Pang Huang234753.70