KAJIAN MATEMATIK DINAMIKA SISTEM MEKANIK TAK HOLONOMIK (KASUS: ROLLER RACER) DI PERMUKAAN DALAM SILINDER; MATHEMATICAL ANALYSIS OF THE DYNAMICS OF A NON HOLONOMIC MECHANICAL SYSTEM (CASE: ROLLER RACER) ON THE INTERNAL SURFACE OF A CYLINDER

Nurhidayah, M. Farchani Rosyid

2011 | Disertasi | PROGRAM STUDI S2 ILMU FISIKA

One of interesting applications of the theory of non-holonomic mechanical systems is to the robotic systems, e.g. roller racer. This research investigated the dynamic of roller racer played on the curved arena of the form of cylinder, i.e. the internal surface of the cylinder. The cylinder is assumed to have so great radius. The dynamic was investigated by making use of two methods: the PCHS (Port Controlled Hamiltonian Systems) method and the constrained Levi-Civita connection. The PCHS formulation of the equation of motion of roller racer on the arena faced some difficulties concerning of determination of the orthogonal basis that vanishing constraint one-forms and diagonalizing its inertia metric. On the other hand the equation of motion could be formullated systematically by making use of the constrained Levi-Civita connection method.

Kata Kunci : sistem mekanik , kendala tak holonomik, dinamika gerak, roller racer. xv