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What is the meaning of nonholonomy in a system? 
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#1
Feb113, 10:20 AM

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I keep coming across this term and I cannot understand what this means pertaining to a mechanical system. I'm working on spherical robots and their control and there is mention of nonholonomy in the control of spherical robots. I googled it but I couldn't find a clear starting point to start reading. Someone point me to the fundamentals or something from where this starts?



#2
Feb113, 11:00 AM

PF Gold
P: 1,149

If I remember correctly, it has to do with the kind of constraints the system has. If the constraints are functions of coordinates only, the system is holonomic. This usually means the system is "simple" to analyze (mass point on a circle).
If the constraints cannot be expressed via coordinates only, but are functions of velocity or even worse, the system is nonholonomic. Then we expect the system to behave in am more complex way. (ball rolling on plane surface without slipping). https://en.wikipedia.org/wiki/Holonomic_constraints https://en.wikipedia.org/wiki/Nonholonomic 


#3
Feb113, 11:08 AM

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#4
Feb113, 08:13 PM

PF Gold
P: 1,149

What is the meaning of nonholonomy in a system?



#5
Feb113, 11:24 PM

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Feb313, 10:35 PM

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Feb313, 10:39 PM

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