Theoretical Analysis for a Class of Rheonomous Affine Constraints on Configuration Manifolds—Part I: Fundamental Properties and Integrability/Nonintegrability Conditions

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="543098.fig.001a" src="https://static.hindawi.com/articles/mpe/volume-2012/543098/figures/543098.fig.001a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Space Robot with Initial Angular Momentum</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="543098.fig.001b" src="https://static.hindawi.com/articles/mpe/volume-2012/543098/figures/543098.fig.001b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Boat on Running River</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="543098.fig.001c" src="https://static.hindawi.com/articles/mpe/volume-2012/543098/figures/543098.fig.001c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Ball on Rotating Table</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="543098.fig.001d" src="https://static.hindawi.com/articles/mpe/volume-2012/543098/figures/543098.fig.001d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Coin on Rotating Table </td></tr></table></td></tr></table>

<table>Examples of systems subject to affine constraints.</table>

Mathematical Problems in Engineering

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Figure 1: Theoretical Analysis for a Class of Rheonomous Affine Constraints on Configuration Manifolds—Part I: Fundamental Properties and Integrability/Nonintegrability Conditions 

Figure 1 | Theoretical Analysis for a Class of Rheonomous Affine Constraints on Configuration Manifolds—Part I: Fundamental Properties and Integrability/Nonintegrability Conditions 