Singularities and Mobility of Nonholonomic Systems: The Ball Rolling on a Plane

Abstract Using a representation of the kinematics by means of a driftless control system we define posture and configuration singularities of a nonholonomic robotic system. A mobility ellipsoid is adopted as an indicator of mobility of the system. The concepts of singularities and mobility are illustrated with an example of the ball rolling on a plane.

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