Equations of motion of constrained mechanical systems: given force depends on constraint force
In the Lagrangean mechanics framework, forces are divided into given and constraint forces. Certain given forces may arise, however, only due to the constraint forces. In other words, they are coupled. The most well known example is that friction forces are due to normal forces. The standard procedure of using the Lagrange's form of d'Alembert's principle does not identify these forces directly. By using second order constraints, we propose two methods to determine these forces. (C) 1999 Elsevier Science Ltd. All rights reserved.
lagrangean mechanics nonholonomic constraint robot control