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Holonomic vs. Nonholonomic Constraints for Robots | Fundamentals of Robotics | Lesson 4

🌟 Contents 🌟 💎 (00:00​) Introduction 💎 (01:16​) Holonomic (Configuration) Constraints for Robots 💎 (05:30​) Velocity (Pfaffian) Constraints 💎 (06:22​) Nonholonomic Constraints 💎 (07:07​) Chassis of a Car Driving on a Plane 💎 (08:57​) Steerable Needles 💎 (09:30​) A Coin Rolling on a Plane without Slipping (A Classical Problem) 💎 (11:51​) Summary of the Holonomic and Nonholonomic Constraints In this video, you will learn that holonomic or configuration constraints reduce the degrees of freedom (dofs) of a robot, whereas nonholonomic constraints reduce the space of possible velocities. This video also has a reading version that complements the video. Our suggestion is to watch the video and then read the reading for a deeper understanding. For the reading, refer to the link below: https://www.mecharithm.com/holonomic-... Be sure to also watch other lessons on Fundamentals of Robotics gathered together into a playlist for your convenience as some of the lessons are prerequisites for this lesson. Thanks for watching! Ready to be a part of the Mecharithm family?👇 🌐 https://www.mecharithm.com/ 📷   / mecharithm   🔴 https://www.mecharithm.com/youtube 🐦   / mecharithm   🔵   / mecharithm   🧑🏻‍🎓   / mecharithm   References: 📘 Textbooks: Modern Robotics: Mechanics, Planning, and Control by Frank Park and Kevin Lynch A Mathematical Introduction to Robotic Manipulation by Murray, Lee, and Sastry 💉 The steerable needle research is done by Fan Yang and Mahdieh Babaiasl under the supervision of Prof. John Swensen at M3 Robotics Lab. 💲 If you enjoyed this video, please consider contributing to help us with our mission of making Robotics and Mechatronics available for everyone. We sincerely thank you for your generous contribution (you can do this by the Thanks button under the video). ©️ Tutorials and learning material are proprietary to Mecharithm, but sampling is permitted with proper attribution to the main source. #roboticsolutions #robotics #roboticsurgery #roboticsengineering #roboticslearning #roboticsschool #roboticsstudent #roboticscompetition #roboticschallenge #roboticsclub #roboticsclass #roboticseducation #mechatronics #mechatronicsengineering #mechatronicstudent #roboticseducationcentre #robot #robots #robotech #robotdesign #fourbarlinkage #chassisofacar #coinroll #configurationconstraints #holonomic #nonholonomic #rollingwithoutslipping #velocityconstraints #pfaffian #holonomicconstraintsrobotics