Analysis and control of redundant nonholonomic mechanical systems

Abstract

We initiate an exploration of the extent to which various structural properties present in nonholonomic mechanical systems can be exploited to resolve some of the difficulties. We consider the notion of kinematic redundancy in nonholonomic systems by introducing a definition of kinematic redundancy which seems both natural and useful when applied to nonholonomic mechanical systems. We then identify some of the properties which result because of the presence of the redundancy. We also consider the problem of controlling these systems, and show that kinematic redundancy can be used both to simplify the control problem and to enhance system performance. Finally, three examples of nonholonomic systems which are clearly "redundant" in some sense are considered: a space robot, a mobile manipulator, and a tractor trailer system.