| Author(s) |
Krakowski, Krzysztof
Silva Leite, Fatima
|
| Publication Date |
2012
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| Abstract |
We are interested in knowing whether or not the motion of two smooth surfaces rolling on each other, without slip or twist, can be controlled. We present a few cases of surfaces rolling on a tangent plane where we show that controllability fails and why. The control system associated to a rolling motion defines a distribution in the configuration space. If this rolling distribution is bracket generating, local controllability is guaranteed. After deriving the kinematic equations for rolling Euclidean submanifolds of co-dimension one, we derive a condition for local controllability.
|
| Citation |
Proceedings of the 10th Portuguese Conference on Automatic Control (CONTROLO'2012), p. 197-203
|
| ISBN |
9789729702532
|
| Link | |
| Publisher |
Associação Portuguesa de Controlo Automático (APCA)
|
| Title |
Why Controllability Of Rolling Motions May Fail
|
| Type of document |
Conference Publication
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| Entity Type |
Publication
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