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Underactuated mechanical systems with constant linear constraints

Lemmer L., Kiss B.

Systems Science

2009

Vol. 35, no 4

81-91

This paper presents methods to build the equations of motion of constrained mechanical systems with special emphasis on linear mechanical systems with linear kinematic constraints. On the one hand, an explicit closed form solution is given for the constraint forces, and on the other, a minimal set of equations of motion is derived with the elimination of the constraint forces. Then, the number of maximal possible degree of underactuation and minimal required number of position outputs are analyzed to have a controllable and an observable system, respectively.