KAJIAN MATEMATIK DINAMIKA SISTEM MEKANIK TAK HOLONOMIK (KASUS: ROLLER RACER) DI PERMUKAAN DALAM SILINDER
One of interesting applications of the theory of non-holonomic mechanical systems is to the robotic systems, e.g. roller racer. This research investigated the dynamic of roller racer played on the curved arena of the form of cylinder, i.e. the internal surface of the cylinder. The cylinder is assume...
| Main Authors: | , |
|---|---|
| Format: | Thesis |
| Published: |
[Yogyakarta] : Universitas Gadjah Mada
2011
|
| Subjects: |
| Summary: | One of interesting applications of the theory of non-holonomic mechanical
systems is to the robotic systems, e.g. roller racer. This research investigated the
dynamic of roller racer played on the curved arena of the form of cylinder, i.e. the
internal surface of the cylinder. The cylinder is assumed to have so great radius. The
dynamic was investigated by making use of two methods: the PCHS (Port Controlled
Hamiltonian Systems) method and the constrained Levi-Civita connection.
The PCHS formulation of the equation of motion of roller racer on the arena
faced some difficulties concerning of determination of the orthogonal basis that vanishing
constraint one-forms and diagonalizing its inertia metric. On the other hand
the equation of motion could be formullated systematically by making use of the
constrained Levi-Civita connection method. |
|---|