Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/13852
Title: Symmetry and its applications in mechanics
Authors: LUIS TIRTASANJAYA, LIOE
Keywords: Non-holonomic, holonomy, optimal motions, optimal rotations, closed formulae
Issue Date: 30-Mar-2004
Source: LUIS TIRTASANJAYA, LIOE (2004-03-30). Symmetry and its applications in mechanics. ScholarBank@NUS Repository.
Abstract: In this thesis, we observe the role of non-holonomic constraints imposed on the unit ball that rolls in the plane without slipping or turning. These constraints implicate a holonomy phenomenon. We want to determine the optimal motions of that rolling ball. The optimal rotations that describe the optimal motions satisfy a differential equation which is not directly integrable in general. Using holonomy, we obtain closed formulae for the optimal motions. In the last part of this thesis, we develop a numerical scheme to compute the optimal rotations numerically and to validate our closed form solutions.
URI: http://scholarbank.nus.edu.sg/handle/10635/13852
Appears in Collections:Master's Theses (Open)

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