Mechanical Systems With Nonideal Constraints: Explicit Equations Without the Use of Generalized Inverses

Firdaus Udwadia (1) , Robert Kalaba (2) , Phailaung Phohomsiri (1)

1 Aerospace and Mechanical Engineering
2 USC - University of Southern California

In this paper we obtain the explicit equations of motion for mechanical systems under nonideal constraints without the use of generalized inverses. The new set of equations is shown to be equivalent to that obtained using generalized inverses. Examples demonstrating the use of the general equations are provided.

Domaines: Mécanique [physics.med-ph]

Firdaus Udwadia, Robert Kalaba, Phailaung Phohomsiri. Mechanical Systems With Nonideal Constraints: Explicit Equations Without the Use of Generalized Inverses. Journal of Applied Mechanics, 2004, 71 (5), pp.615-621. ⟨10.1115/1.1767844⟩. ⟨hal-01399623⟩