Configuration Controllability of Simple Mechanical Control Systems

In this paper we present a definition of ''configuration controllability'' for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A computable test for this new version of controllability is derived. This condition involves an object that we call the symmetric product. Of particular interest is a definition of ''equilibrium controllability'' for which we are able to derive computable sufficient conditions. Examples illustrate the theory.

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