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Explicit formula for a general integral of motion for a class of mechanical systems subject to holonomic constraint

Abstract : The paper suggests an explicit form of a general integral of motion for the dynamics of a mechanical system with n degrees of freedom, while the system is subject to n − 1 holonomic constraints. The computation of this integral is given for the cart-pendulum with three different holonomic constraints.
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https://hal.inria.fr/hal-01091637
Contributor : Frédéric Grognard <>
Submitted on : Friday, December 5, 2014 - 5:05:21 PM
Last modification on : Monday, April 12, 2021 - 3:44:05 PM
Long-term archiving on: : Monday, March 9, 2015 - 6:05:23 AM

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  • HAL Id : hal-01091637, version 1

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J.-W. Perram, Anton Shiriaev, Carlos Canudas de Wit, Frédéric Grognard. Explicit formula for a general integral of motion for a class of mechanical systems subject to holonomic constraint. 2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Mar 2004, Sevilla, Spain. pp.99-104. ⟨hal-01091637⟩

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