- #1
Palguna Kumar
- 2
- 0
Hello,
I have an problem with mathematical modelling of a special kind of articulated trailer (please have a look at the images: 1st image is the yaw plane and the second is the ZX plane). I have two methods of deriving equations of motion namely Lagrange and Newton-euler to analyse their paths or trajectories. Do you think the system has non holonomic constraints because the side slip of the first body cannot be defined since it has no wheels ? Which method is preferrable lagrange or Newton euler? How to model the system in minimal coordinates ( generalized coordinates) to avoid lagrange multipliers? I have tried a lot but system is entering singularity (maybe because I did not consider non holonomic constraints). Is there a better way where I can model the system ?
I have an problem with mathematical modelling of a special kind of articulated trailer (please have a look at the images: 1st image is the yaw plane and the second is the ZX plane). I have two methods of deriving equations of motion namely Lagrange and Newton-euler to analyse their paths or trajectories. Do you think the system has non holonomic constraints because the side slip of the first body cannot be defined since it has no wheels ? Which method is preferrable lagrange or Newton euler? How to model the system in minimal coordinates ( generalized coordinates) to avoid lagrange multipliers? I have tried a lot but system is entering singularity (maybe because I did not consider non holonomic constraints). Is there a better way where I can model the system ?