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2. Consider a ship following a curve as shown in Fig.1. The arc length is s and the orientation is 8. The position of the ship is (x, y). Configuration space is (x y s 0)T. Y (x,y)

2. Consider a ship following a curve as shown in Fig.1. The arc length is s and the orientation is 8. The position of the ship is (x, y). Configuration space is (x y s 0)T. Y (x,y)

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2. Consider a ship following a curve as shown in Fig.1. The arc length is s and the orientation is 0. The position of the ship is (x, y). Configuration space is (x y s 0)". Y (x,y) Fig.1 Top view of a ship (1) Using the velocity relationship, find the Pfaffian constraints. (2) Is this system holonomic?
Transcribed Image Text:2. Consider a ship following a curve as shown in Fig.1. The arc length is s and the orientation is 0. The position of the ship is (x, y). Configuration space is (x y s 0)". Y (x,y) Fig.1 Top view of a ship (1) Using the velocity relationship, find the Pfaffian constraints. (2) Is this system holonomic?
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