Nonholonomic Constraints is a kinematic constraint in the dynamics of mechanical systems that restricts the allowable velocities without being integrable to a restriction on the configuration space, thereby distinguishing it from holonomic constraints which can be expressed as functions of position and time alone.
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Nonholonomic Mechanics and Control
AM Bloch, Bernard Brogliato · Applied Mechanics Reviews · 2004 · 1.1K citations · Full text
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