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References
- Kevin M. Lynch, F. (2017). Modern Robotics.
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Dynamics
Dynamics under constraints
Equations of motion for a robot subject to Pfaffian velocity constraints, such as a hand holding a door handle.
A robot’s environment often restricts its motion. A hand grasping a door handle must move with the door, while a pen tip must remain on the paper. You can express these restrictions as Pfaffian velocity constraints . Assuming that the constraints do no work, you will add the constraint forces to the equations of motion. You will then solve for the motion and constraint forces together. The treatment follows section 8.7 of Lynch and Park (book page 299) (Kevin M. Lynch, 2017) and builds on forward dynamics.