A general approach to the derivation of equations of motion of as holonomic, as nonholonomic systems with the constraints of any order is suggested. The system

The goal of this book is to give a comprehensive and systematic exposition of the mechanics of nonholonomic systems, including the kinematics and dynamics of no

This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in b

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.

Several issues are investigated in depth to provide a sound and complete justification of the DAE model. These issues include the development of a generalized G